Research on Collision Avoidance and Vehicle Stability Control of Intelligent Driving Vehicles in Harsh Environments

Aiming at the problems of ineffective collision avoidance and vehicle instability in the process of vehicle emergency braking in road conditions with low adhesion and sudden change in adhesion coefficient, a stability-coordinated emergency braking and collision avoidance control system SEBCACS) is proposed. First, according to the motion of the ego vehicle and the target vehicle as well as the road adhesion conditions, a collision time model is proposed for evaluating the vehicle collision risk, and the expected deceleration required to avoid the collision is calculated. Then, the MPC method is used to calculate the yaw moment generated by the four-wheel braking force required to maintain vehicle stability according to the actual and reference yaw rate and side slip angle deviation. Then it is decided whether to implement additional yaw moment control according to the body stability evaluation results. Finally, the required four-wheel braking force is calculated according to the expected deceleration and the expected additional yaw moment (produced by differential braking). The simulation results show that the control system designed in this paper can effectively ensure the vehicle’s longitudinal collision avoidance safety and vehicle stability in the face of harsh environments, compared with the traditional AEB method.