Research on intelligent vehicle collision avoidance control considering road adhesion coefficient

Zhicheng Yu*, Ying Cheng

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

Abstract

To improve collision avoidance and stability of intelligent driving vehicles in emergencies, a control method considering road adhesion is proposed. First, a Kalman filter estimates the road adhesion coefficient in real time based on tire-road interaction. Then, a lateral and longitudinal controller is designed to track the optimal collision avoidance trajectory by applying brakes and generating the optimal steering angle. The controller includes constraints for low-adhesion surfaces to reduce instability. Finally, a joint simulation platform using Prescan, CarSim, and Simulink validates the system. Results show that, compared with the other two control strategies, the designed control strategy can reduce the vehicle's peak sideslip angle by 7.14% and 32.08% respectively in emergency situations, thus enhancing the vehicle's collision avoidance ability and driving stability.

Original languageEnglish
Pages (from-to)1487-1492
Number of pages6
JournalIEEE Information Technology and Mechatronics Engineering Conference, ITOEC
Issue number2025
DOIs
Publication statusPublished - 2025
Externally publishedYes
Event8th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2025 - Chongqing, China
Duration: 14 Mar 202516 Mar 2025

Keywords

  • active collision avoidance
  • handling stability
  • intelligent vehicle
  • road adhesion coefficient estimation

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