Skip to main content
SpringerLink
Log in

Path planning and stability control of collision avoidance system based on active front steering

  • Article
  • Published:
Science China Technological Sciences Aims and scope Submit manuscript

Abstract

Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety, which can assist the driver to take the initiative to avoid obstacles under certain conditions, so as to effectively improve the driving safety of vehicle. This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering, which mainly consists of a path planner and a robust tracking controller. A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm, which plans an evasive trajectory to bypass the obstacle and avoid crashes. The dynamic models of the AFS system, vehicle as well as the driver model are established, and based on these, a robust tracking controller is proposed, which controls the system to resist external disturbances and work in accordance with the planning trajectory. The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform. The simulation results show that it can effectively track the planning trajectory, and improve the steering stability and anti-interference performance of the vehicle.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Takahashi A, Asanuma N. Introduction of Honda Asv-2 (advanced safety vehicle-Phase 2). In: Proceedings of IEEE Intelligent Vehicles Symposium. Piscataway: IEEE, 2000

    Google Scholar 

  2. Knoll P M. Predictive safety systems: convenience-collision mitigation- collision avoidance. SAE Technical Paper, No. 2006-21-0082, 2006

    Google Scholar 

  3. Distner M, Bengtsson M, Broberg T, et al. City safety-a system addressing rear-end collisions at low speeds. In: Proceedings of 21st International Technical Conference on the Enhanced Safety of Vehicles. Stuttgart, 2009

    Google Scholar 

  4. Galvani M, Biral F, Nguyen B M, et al. Four wheel optimal autonomous steering for improving safety in emergency collision avoidance maneuvers. In: Proceedings of 13th International Workshop on Advanced Motion Control. IEEE, 2014

    Google Scholar 

  5. Moshchuk N, Chen S K, Zagorski C, et al. Optimal braking and steering control for active safety. In: Proceedings of 15th International IEEE Conference on Intelligent Transportation Systems. IEEE, 2012

    Google Scholar 

  6. Bevan G, Gollee H, O’reilly J. Automatic lateral emergency collision avoidance for a passenger car. Int J Control, 2007, 80: 1751–1762

    Article  MATH  Google Scholar 

  7. Kim J H, Bien Z. A study on active collision avoidance system for the road vehicle. Ieice Trans Inf Syst, 2001, 84: 717–726

    Google Scholar 

  8. Falcone P, Borrelli F, Asgari J, et al. Predictive active steering control for autonomous vehicle systems. IEEE Trans Contr Syst Tech, 2007, 15: 566–580

    Article  Google Scholar 

  9. Soudbakhsh D, Eskandarian A, Chichka D. Vehicle collision avoidance maneuvers with limited lateral acceleration using optimal trajectory control. J Dyn Syst Meas Control, 2013, 135: 9547–9548

    Article  Google Scholar 

  10. Raffo G V, Gomes G K, Normey-Rico J E, et al. A predictive controller for autonomous vehicle path tracking. IEEE Trans Intell Transport Syst, 2009, 10: 92–102

    Article  Google Scholar 

  11. Na X, Cole D J. Game-theoretic modeling of the steering interaction between a human driver and a vehicle collision avoidance controller. IEEE Trans Human-Mach Syst, 2015, 45: 25–38

    Article  Google Scholar 

  12. Eidehall A, Pohl J, Gustafsson F, et al. Toward autonomous collision avoidance by steering. IEEE Trans Intell Transport Syst, 2007, 8: 84–94

    Article  Google Scholar 

  13. Brembeck J, Winter C. Real-time capable path planning for energy management systems in future vehicle architectures. In: Proceedings of IEEE Intelligent Vehicles Symposium (IV). Dearborn: IEEE, 2014. 599–604

    Google Scholar 

  14. Galvani M, Biral F, Nguyen B M, et al. Four wheel optimal autonomous steering for improving safety in emergency collision avoidance manoeuvres. In: Proceedings of The 13th International Workshop on Advanced Motion Control. Yokohama, 2014. 362–367

    Google Scholar 

  15. Daniel J, Birouche A, Lauffenburger J P, et al. Energy constrained trajectory generation for ADAS. In: Proceedings of IEEE Intelligent Vehicle Symposium. IEEE, 2010. 244–249

    Google Scholar 

  16. Shah J, Best M, Benmimoun A, et al. Autonomous rear-end collision avoidance using an electric power steering system. Proc Inst Mech Eng Part D-J Automob Eng, 2015, 229: 1638–1655

    Article  Google Scholar 

  17. Shim T, Adireddy G, Yuan H. Autonomous vehicle collision avoidance system using path planning and model-predictive-control-based active front steering and wheel torque control. Proc Inst Mech Eng Part D-J Automob Eng, 2012, 226: 767–778

    Article  Google Scholar 

  18. Fernandez Llorca D, Milanes V, Parra Alonso I, et al. Autonomous pedestrian collision avoidance using a fuzzy steering controller. IEEE Trans Intell Transp Syst, 2011, 12: 390–401

    Article  Google Scholar 

  19. Li K R, Juang J C, Lin C F. Active collision avoidance system for steering control of autonomous vehicles. Iet Intell Transp Syst, 2014, 8: 550–557

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Automotive Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    ChunYan Wnag, WanZhong Zhao, ZhiJiang Xu & Guan Zhou

  2. Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing, 400044, China

    ChunYan Wnag

Authors
  1. ChunYan Wnag
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. WanZhong Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. ZhiJiang Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Guan Zhou
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to WanZhong Zhao.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wnag, C., Zhao, W., Xu, Z. et al. Path planning and stability control of collision avoidance system based on active front steering. Sci. China Technol. Sci. 60, 1231–1243 (2017). https://doi.org/10.1007/s11431-016-9016-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11431-016-9016-1

Keywords

Search

Navigation