Collision Imminent Steering at High Speeds on Curved Roads Using One-Level Nonlinear Model Predictive Control

Collision imminent steering is an automotive active safety feature designed to perform an evasive lane change maneuver when a forward collision cannot be avoided by braking alone. Previous work developed a nonlinear one-level model predictive controller to perform such a maneuver in a straight highway environment and at high speeds. In this article, a new formulation is presented that extends this capability to curved roads. The formulation includes a drivable tube concept, within which the maneuver is allowed to push the vehicle to its limits of handling, but only if the controller deems it necessary. Numerical simulation results showcase aggressive lane change maneuvers on curved roads at high speeds, allowing for both inside and outside lane changes, as well as single and double lane change maneuvers in a shorter distance than braking.