Emergency steering collision avoidance control based on distributed driving intelligent vehicles

Abstract

SummaryBased on the distributed drive intelligent electric vehicle, considering the collision avoidance effect of the planned path, the path tracking accuracy, and the body stability requirements in the process of steering collision avoidance, this article proposes a control strategy for emergency steering collision avoidance. First, the fifth‐order polynomial method is used to generate collision avoidance paths, and then a designed cost function is used to evaluate and select the optimal collision avoidance path. Second, a decision‐making strategy that integrates multiple risk judgment models is built. Based on the model prediction method, a path tracking controller is built, and an optimization objective function is established to improve the tracking accuracy. In order to ensure the stability of the vehicle body, a vehicle stability controller is designed based on fuzzy theory. Finally, a vehicle‐in‐the‐loop intelligent driving algorithm test platform is built, and the control algorithm is tested through this platform. The test results show that compared with the pure path tracking control method, the control strategy is reasonable and effective and can better reduce the path tracking error and improve the vehicle's driving stability in the collision avoidance process.