Research on Path Planning and Tracking Control for Automatic Emergency Steering of Intelligent Vehicle on Curved Road 2022-01-7108

A warning MAP diagram method for automatic emergency steering of intelligent vehicle on curved road to avoid collision is proposed. Firstly, the path planning of emergency steering collision avoidance for vehicle on curved road is carried out, using fifth-degree and seventh-degree polynomials with the vehicle point mass model. Secondly, the vehicle lateral kinematic model is used for controller design to track the desired trajectory by Stanley control algorithm. Thirdly, the Carsim dynamics model is investigated with feedback control on lateral displacement and yaw angle of the vehicle, so as to correct the front wheel steering angle based on Stanley control algorithm. Finally, the simulation and analysis are carried out for the driving stability of the vehicle under different combinations of speed, road adhesion coefficient and obstacle distance. According to the predetermined thresholds of vehicle sideslip angle, yaw rate and lateral acceleration, the minimum safety distance required to maintain vehicle stability under different working conditions is obtained by simulation.