For high-speed vehicles, sudden obstacles in front of them will put the vehicles in a dangerous situation. Drivers usually turn sharply and roll over because they cannot brake successfully in a short distance. In professional racing, racers often achieve the purpose of fast turning by actively controlling wheel slip named drifting. So it is feasible to use this agile maneuvering to avoid an emergency collision. This paper presents a control system using drifting equilibrium for collision avoidance based on model predictive control (MPC). The proposed control system can decide to drift when the car cannot avoid a collision at the minimum turning radius. Simultaneously, the control system can track the generated reference trajectory and drifting equilibrium. Then, the control system can make the vehicle quit the drifting condition and return to the original route. It acts successfully as a sudden obstacle that occurs when the vehicle speed is near 75 km/h in simulation.
An MPC-Based Drifting Control System for Collision Avoidance in Autonomous Vehicles
Smart Innovation, Systems and Technologies
IEEE International Conference on Advanced Infocomm Technology ; 2022 ; Xi’an, China October 28, 2022 - October 30, 2022
Advanced Intelligent Technologies for Information and Communication ; Kapitel : 36 ; 411-426
2023-10-29
16 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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