Abstract
For high-speed vehicles, sudden obstacles in front of them will put the vehicles in a dangerous situation. Drivers usually turn sharply and roll over because they cannot brake successfully in a short distance. In professional racing, racers often achieve the purpose of fast turning by actively controlling wheel slip named drifting. So it is feasible to use this agile maneuvering to avoid an emergency collision. This paper presents a control system using drifting equilibrium for collision avoidance based on model predictive control (MPC). The proposed control system can decide to drift when the car cannot avoid a collision at the minimum turning radius. Simultaneously, the control system can track the generated reference trajectory and drifting equilibrium. Then, the control system can make the vehicle quit the drifting condition and return to the original route. It acts successfully as a sudden obstacle that occurs when the vehicle speed is near 75 km/h in simulation.
Contributions
1. We designed a control system that can act collision avoidance successfully when a sudden obstacle occurs.
2. The control system includes decision making part that meets the requirement of collision avoidance.
3. The control system uses MPC controller to act collision avoidance when using the drifting maneuver to avoid collision and returns to the original path after collision avoidance.