结构化环境中的自主紧急避碰和稳定
Autonomous Emergency Collision Avoidance and Stabilisation in Structured Environments
摘要：
提出了一种新的弯道自主避障闭环控制框架。所提出的框架提供了两个主要功能：（i）碰撞的无轨迹规划使用MPC和（ii）的横向/偏航稳定性的扭矩矢量控制器设计使用最优控制概念。分析了名义型MPC、无偏置MPC和鲁棒MPC的轨迹规划算法，并分别实现了力矩矢量控制。仿真结果证实了这种分层控制算法的优点是：（i）不受非凸碰撞避免约束，（ii）保证凸性，而驾驶在曲线道路上，（iii），以保证可行的轨迹时，车辆加速或减速，同时执行横向机动，和（iv）对低摩擦表面的鲁棒性。此外，为了评估控制结构在紧急和动态环境下的性能，在低摩擦表面和不同曲率值下对框架进行了测试。仿真结果表明，所提出的防撞系统可以显着提高车辆在紧急驾驶场景的安全性。为了说明所提出的防撞系统的有效性，高保真IPG汽车制造商和Simulink的联合仿真环境中使用的结果进行验证。
英文摘要：
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a torque vectoring controller for lateral/yaw stability designed using optimal control concepts. This paper analyzes trajectory planning algorithm using nominal MPC, offset-free MPC and robust MPC, along with separate implementation of torque-vectoring control. Simulation results confirm the strengths of this hierarchical control algorithm which are: (i) free from non-convex collision avoidance constraints, (ii) to guarantee the convexity while driving on a curve road (iii) to guarantee feasibility of the trajectory when the vehicle accelerate or decelerate while performing lateral maneuver, and (iv) robust against low friction surface. Moreover, to assess the performance of the control structure under emergency and dynamic environment, the framework is tested under low friction surface and different curvature value. The simulation results show that the proposed collision avoidance system can significantly improve the safety of the vehicle during emergency driving scenarios. In order to stipulate the effectiveness of the proposed collision avoidance system, a high-fidelity IPG carmaker and Simulink co-simulation environment is used to validate the results.
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