To alleviate the tension brought to the driver when the automatic driving system works in a collision avoidance scenario and to improve driving comfort, this paper designs a personalized collision avoidance trajectory that considers the driver's driving habits. By collecting driving data to analyze the drivers' driving habits and considering dynamics constraints, we design the personalized handling envelope. The optimal collision avoidance trajectory is selected within this envelope through collision detection and the Technique for Order Preference by Similarity to an Ideal Solution (TOPSIS) algorithm. A Model predictive controller (MPC) is designed for tracking. We evaluate the performance of the trajectory and the controller on the Carsim/Simulink co-simulation platform. The results show that the trajectory designed based on this method can complete collision avoidance safely, meet the driver's expectations, and improve stability.
Personalized Collision Avoidance Trajectory Planning Considering Driving Habits
2023-10-27
4836545 byte
Conference paper
Electronic Resource
English
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