An Emergency Collision-Avoidance Controller for Distributed Drive Autonomous Vehicles Based on AFS and DYC

An emergency collision avoidance controller which integrates trajectory planning and tracking based on Model Predictive Control (MPC) is proposed. A collision avoidance safety domain considering vehicle’s space safety and stability safety is established as safety constraints. Moreover, the proposed controller combines Active Front Steering (AFS) and Direct Yaw-moment Control (DYC) to improve yaw response and thereby enhance the vehicle’s performance during collision avoidance. The feasibility and superiority of the proposed controller are verified by simulation experiments and vehicle ground tests. The results that the proposed controller can realize collision avoidance more effectively and safely.

I. Introduction

With the development of electrification and intelligence, autonomous vehicles (AVs) have become a hot topic in industry and academic in recent years. Autonomous vehicles show great potential in enhancing driving safety, improving traffic efficiency, and reducing energy consumption, especially in enhancing driving safety [1][2].