Autonomous Wary Collision Avoidance

Handling of critical situations is an important part in the architecture autonomous vehicle. A controller for collision avoidance developed based on a wary strategy that assumes least tire-road friction which maneuver still feasible. Should be greater, makes use this, and performs better. The uses acceleration-vector reference obtained from optimal control friction-limited particle, whose applicability verified by using numerical optimization full vehicle model. By employing analytical tire model limit, to determine slip references steering, body-slip control, result where computation its output explicit, independent actual friction. When evaluated real-time high-fidelity simulation model, close achieved offline optimization.