|Simultaneous Braking and Steering Control Method based on Nonlinear Model Predictive Control for Emergency Driving Support
Chulho Choi and Yeonsik Kang*
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.345-353, 2017
Abstract : "Autonomous emergency braking (AEB) has drawn a lot of attention as an active safety system preventing
rear-end collision avoidance when the relative speed between vehicles is slow. To increase the operation range of
current AEB system, this paper suggests a collision avoidance strategy using steering and braking simultaneously
with nonlinear model predictive control (NMPC) method. The NMPC predicts the vehicle’s future trajectory with
its open-loop dynamics and calculates the error between the predicted and the desired paths. Then NMPC calculates
the control inputs such as the wheel steering angle and vehicle acceleration by optimizing the cost function over
future receding horizon with predetermined constraints. In this paper, constraints on the wheel steering angle is
proposed in consideration of vehicle’s predicted lateral acceleration, which should be smaller than the threshold
in order to maintain lateral vehicle’s stability. To verify the performance of the proposed strategy, two simulation
scenarios were tested in MATLAB and CarSim simulation environments."
"Collision avoidance, emergency steering wheel control, lateral acceleration control, model predictive control."
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