重庆理工大学学报2026，Vol.40Issue(11)：71-81,11.DOI:10.3969/j.issn.1674-8425(z).2026.06.009
基于前车失稳工况下紧急避撞控制策略研究
Research on emergency collision avoidance control strategy under preceding vehicle instability conditions
摘要
Abstract
To avoid collisions for self-driving vehicles with a front vehicle experiencing sideslip in a non-connected environment,this paper proposes a control framework integrating state identification,trajectory prediction,trajectory planning and tracking.First,a sideslip identification strategy is developed based on lane departure features and centrifugal acceleration extremes.Then,the constant rate of rotation and acceleration(CTRA)model is employed to predict the trajectory of sideslip vehicles.The unscented Kalman filter(UKF)is used to deal with the model uncertainty and perceptual noise.An estimation model is built covering the possible future positions of the preceding vehicles.Next,a multi-objective optimization function is developed by segmented parameterized driving process.The constrained nonlinear optimization solver is used to generate the collision avoidance trajectory with comprehensive consideration of safety,comfort and driving recovery ability.Finally,the model predictive controller(MPC)is designed based on the three-degree-of-freedom dynamics model.The trajectory is accurately tracked through rolling optimization.Simulation experiments show the proposed method effectively identifies sideslips and successfully produces collision-avoidance trajectories.关键词
侧滑识别/轨迹预测/轨迹规划/MPCKey words
sideslip recognition/trajectory prediction/trajectory planning/MPC分类
交通工程引用本文复制引用
欧健,程小龙,刘鑫勇,张勇..基于前车失稳工况下紧急避撞控制策略研究[J].重庆理工大学学报,2026,40(11):71-81,11.基金项目
重庆市教委科学研究项目(cstc2019jcyj-msxmX0204) （cstc2019jcyj-msxmX0204）
