Integrated Trajectory Planning and Torque Vectoring for Autonomous Emergency Collision Avoidance

Taherian, Shayan, Montanaro, Umberto, Dixit, Shilp and Fallah, Saber (2019) Integrated Trajectory Planning and Torque Vectoring for Autonomous Emergency Collision Avoidance IEEE Transactions on Intelligent Transportation Systems.

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Abstract

This paper proposes an integrated trajectory planning based on Model Predictive Control (MPC) for designing collision-free evasive trajectory and a torque vectoring controller based on optimal control to ensure lateral-yaw stabilization in autonomous emergency collision avoidance under low friction and crosswinds on highways. The trajectory for performing the evasive manoeuvre is designed to minimise the deviation of the vehicle from the lane center while ensuring the vehicle remains within the road boundaries. The steering input computed from the MPC is used to steer the vehicle along the reference trajectory while the torque vectoring controller provides additional lateral-yaw stability. The integrated control framework was implemented on IPG Carmaker-MATLAB co-simulation platform and its efficacy was evaluated under different scenarios. Simulations performed for emergency collision avoidance at high speeds with low road friction and heavy crosswinds confirm the ability of the proposed closed-loop framework at successfully avoiding collisions with moving obstacles while ensuring that the controlled vehicle remains within its limits of stability. Furthermore, the robustness of the proposed control framework to variations in road friction changes is demonstrated by simulating an evasive manoeuvre at high-speeds for wide range of road friction conditions. Comparing the performance of the proposed control framework to a vehicle without the corrective actions available via torque vectoring highlight the additional benefits provided by the proposed closed-loop scheme at ensuring lateral-yaw stability under emergency scenarios.

Item Type:	Article
Divisions :	Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :	Name Email ORCID Taherian, Shayan s.taherian@surrey.ac.uk Montanaro, Umberto u.montanaro@surrey.ac.uk Dixit, Shilp s.dixit@surrey.ac.uk Fallah, Saber s.fallah@surrey.ac.uk
Date :	2019
Copyright Disclaimer :	© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Depositing User :	Diane Maxfield
Date Deposited :	07 Aug 2019 11:32
Last Modified :	07 Aug 2019 12:04
URI:	http://epubs.surrey.ac.uk/id/eprint/852365

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