The Research of Active Safety Control Strategy Integrating Obstacle Avoidance and Vehicle Stability

The purpose of this research is to establish an active safety control strategy integrating obstacle avoidance and vehicle stability can be used as a driver assistance technology on an intelligent vehicle. We develop a tricycle equipped with active steering, lane tracking and active braking control to assist driver to dodge obstacle on the road or to stop the vehicle under 50km/h. This strategy not only consists of obstacle avoidance control including situation judgment flowchart with operational decision-making process and path following control method, but also can adjust the parametric path planning algorithm to plan several paths according to the distance and relative velocity between the vehicle and obstacle. And it integrates the vehicle stability strategy including anti-slip braking control, rollover detection warning and vehicle steering dynamic stability control in order to enhance the steadiness through the path tracking process. We establish the control strategy on MATLAB/Simulink and the vehicle dynamic model on CarSim to execute the Model-in-the-Loop simulation and parameter adjustment. And then we modify the dynamic characteristic of the vehicle model through experiment. After the completion of virtual validation, we compile the control strategy with programmable controller MicroAutoBox to conduct the Hardware-in-the-Loop simulation and to discuss the feasibility of strategy and the evaluation of its effectiveness. Last, this research proposes a control strategy integrating obstacle avoidance and vehicle stability which can lower the braking distance up to 3.8 m in active braking control and increase the reaction time at least 0.28 second for driver in active steering control.