Research on Path Planning and Tracking Control for Automatic Emergency Steering of Intelligent Vehicle on Curved Road 1. State Key Laboratory of Vehicle NVH and Safety Technology

Format:

Book

Conference/Event

Author/Creator:

Lai, Fei, author.

Conference Name:

SAE 2022 Intelligent and Connected Vehicles Symposium (2022-11-03 : Shanghai, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2022

Summary:

A warning MAP diagram method for automatic emergency steering of intelligent vehicle on curved road to avoid collision is proposed. Firstly, the path planning of emergency steering collision avoidance for vehicle on curved road is carried out, using fifth-degree and seventh-degree polynomials with the vehicle point mass model. Secondly, the vehicle lateral kinematic model is used for controller design to track the desired trajectory by Stanley control algorithm. Thirdly, the Carsim dynamics model is investigated with feedback control on lateral displacement and yaw angle of the vehicle, so as to correct the front wheel steering angle based on Stanley control algorithm. Finally, the simulation and analysis are carried out for the driving stability of the vehicle under different combinations of speed, road adhesion coefficient and obstacle distance. According to the predetermined thresholds of vehicle sideslip angle, yaw rate and lateral acceleration, the minimum safety distance required to maintain vehicle stability under different working conditions is obtained by simulation

Notes:

Vendor supplied data

Publisher Number:

2022-01-7108

Access Restriction:

Restricted for use by site license