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Simultaneous braking and steering control method based on nonlinear model predictive control for emergency driving support

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Abstract

Autonomous emergency braking (AEB) has drawn a lot of attention as an active safety system preventing rear-end collision avoidance when the relative speed between vehicles is slow. To increase the operation range of current AEB system, this paper suggests a collision avoidance strategy using steering and braking simultaneously with nonlinear model predictive control (NMPC) method. The NMPC predicts the vehicle’s future trajectory with its open-loop dynamics and calculates the error between the predicted and the desired paths. Then NMPC calculates the control inputs such as the wheel steering angle and vehicle acceleration by optimizing the cost function over future receding horizon with predetermined constraints. In this paper, constraints on the wheel steering angle is proposed in consideration of vehicle’s predicted lateral acceleration, which should be smaller than the threshold in order to maintain lateral vehicle’s stability. To verify the performance of the proposed strategy, two simulation scenarios were tested in MATLAB and CarSim simulation environments.

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Authors and Affiliations

  1. Graduate School of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul, 135-702, Korea

    Chulho Choi

  2. Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul, 135-702, Korea

    Yeonsik Kang

Authors
  1. Chulho Choi
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  2. Yeonsik Kang
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Corresponding author

Correspondence to Yeonsik Kang.

Additional information

Recommended by Associate Editor Won-jong Kim under the direction of Editor Euntai Kim. This work was supported by the Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology (No. 2012-0003374, and No. 2015-0150).

Chulho Choi received his Bachelor’s and Master’s degrees in 2011 and 2013 from Kookmin University, Seoul, Korea. His research interests include model predictive control and obstacle avoidance.

Yeonsik Kang received his Bachelor’s and Master’s degrees in 2001 from Seoul National University, Seoul, Korea, and a doctoral degree in 2006 from the University of California Berkeley in Mechanical Engineering. He served as a research engineer from 2007 to 2011. He is currently a professor in the Department of Automotive Engineering, Kookmin University, Seoul, Korea. His research interests include model predictive control, obstacle avoidance, and modeling and controllers.

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Choi, C., Kang, Y. Simultaneous braking and steering control method based on nonlinear model predictive control for emergency driving support. Int. J. Control Autom. Syst. 15, 345–353 (2017). https://doi.org/10.1007/s12555-015-0055-6

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  • DOI: https://doi.org/10.1007/s12555-015-0055-6

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