Research on Active Obstacle Avoidance Control Strategy for Intelligent Vehicle Based on Active Safety Collaborative Control

Abstract

Aiming at the issue of active obstacle avoidance control for intelligent vehicles under emergency, an active safety collaborative control system integrated with adaptive cruise control (ACC), rear steering control (RSC), and rollover braking control (RBC) is developed. The proposed novel control architecture consists of a supervisor, an upper controller, and a lower controller. The supervisor decides which control mode to be used based on multi-sensors information of the driving vehicle. Active rear wheel steering based on lateral acceleration feedback and active braking control strategies based on fuzzy PID are added into the control model to enhance driving stability. To make the vehicle motion control model suitable for highway path tracking with obstacle avoidance under emergency, a priority is given to the RBC controller even though the vehicle speed is lower than the expected speed when the rollover index exceeds the safety threshold. A nonlinear vehicle simulation model is established to validate the proposed control scheme based on Carsim. Finally, a Carsim-Simulink co-simulation model is constructed, and simulation results show that the proposed integrated control strategy based on active safety collaborative control has good performance in both path tracking and driving stability, and has better stability of rollover under emergency.