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Pre-emptive Braking Control for Stability Improvement of Autonomous Vehicles on a Curved Road Based on Vehicle-to-Everything Technology
Journal Article
02-16-03-0018
ISSN: 1946-391X, e-ISSN: 1946-3928
Sector:
Topic:
Citation:
Huang, C. and Lai, F., "Pre-emptive Braking Control for Stability Improvement of Autonomous Vehicles on a Curved Road Based on Vehicle-to-Everything Technology," SAE Int. J. Commer. Veh. 16(3):271-283, 2023, https://doi.org/10.4271/02-16-03-0018.
Language:
English
Abstract:
Vehicle-to-everything (V2X) technology has played an important role in improving
the active safety of autonomous vehicles. In order to improve the stability of
the autonomous vehicle on the curved road, this article presents a pre-emptive
braking control method based on V2X technology. Instead of using the active
safety system to try to stabilize the vehicle in case of danger, the pre-emptive
braking action is proposed to reduce the vehicle speed in advance to a level
that allows safe navigation of the turn to avoid danger. It is assumed that the
friction and curvature of the curved road ahead can be obtained through V2X
technology. Combined with a linear two degrees of freedom (2-DOF) bicycle model,
an optimal control method is adopted to calculate the front and rear wheel
steering angles to track the centerline of the curve lane. A more complex
vehicle dynamics model established earlier is selected for simulation analysis
to verify the proposed control method. The results show that the proposed
control method can improve greatly the stability of the autonomous vehicle on
the curved road.