Combined Steering and Braking Collision Avoidance Control Method Based on Model Predictive Control

A combined steering and braking collision avoidance control method based on model predictive control is proposed in the present paper. This method can overcome the limitations of single steering or braking collision avoidance and improve vehicle safety and tracking performance in extremely complex conditions. The utilization rate of tire force, path tracking performance, and driving stability are considered in the design of the model predictive control (MPC) optimization objective. In addition, the front wheel angle and four-wheel braking torque are taken as the optimization variables. Simulation results showed that the proposed method can greatly improve the path tracking performance and driving stability of vehicles.