모델예측제어를 이용한 자동 긴급 조향 개입판단 및 회피제어

Abstract

This paper presents decision making and autonomous emergency steering(AES) control for collision avoidance based on model predictive control(MPC). In this algorithm, the predictive model of the vehicle is described by 2-DOF Bicycle Model. Evasive maneuver and steering input optimization are formulated as a quadratic programming problem with inequality constraints about road boundaries and an object vehicle. To evaluate the risk of collision, the predicted maximum lateral acceleration on the optimized path was chosen. The proposed AES algorithm will activate emergency steering control for collision avoidance when the maximum lateral acceleration exceeds a threshold value.