Active steering control for autonomous vehicles based on a driver-in-the-loop platform: A case study of collision avoidance. (November 2019)

• Record Type: Journal Article
• Authors: Chen, Keji; Pei, Xiaofei; Sun, Daoyuan; Chen, Zhenfu; Guo, Xuexun; Guo, Konghui
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 233:Number 10(2019)
• Page Start: 1422
• Page End: 1437
• Publication Date: 2019-11
• Subjects: Automotive engineering -- control system -- intelligent vehicle -- collision avoidance; Mechanical engineering -- Periodicals; Automatic control -- Periodicals; Systems engineering -- Periodicals; 621.3
• DOI: 10.1177/0959651819847005
• Languages: English
• ISSNs: 0959-6518

Abstract

Leveraging the advancements in sensor and mapping technologies, the collision-free autonomous vehicle becomes possible in the future. In this article, a case study of collision avoidance by active steering control is presented and verified by a driver-in-the-loop platform. The proposed control system integrates a risk assessment algorithm and a hierarchical model predictive control approach to ensure a safe driving. First, a fuzzy logic is used to estimate the potential conflict. Besides, a nonlinear model predictive control is introduced in the upper layer of the model predictive controller to generate a collision-free trajectory. Furthermore, the lower layer determines the optimal steering angle based on the linear time-variant model predictive control to follow the replanning path. The performance of the controller has been evaluated in the real-time driver-in-the-loop test. The results show that the autonomous vehicle is able to avoid the collision with the surrounding vehicle that is operated by a real driver, and the performance of collision avoidance is improved by means of the risk assessment.