MPC based longitudinal coordinated collision avoidance for multiple connected vehicles

HU Manjiang; XU Biao; QIN Hongmao; XU Cheng; DING Ke; WANG Jianqiang

doi:10.16511/j.cnki.qhdxxb.2017.21.032

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Journal of Tsinghua University(Science and Technology) ›› 2017, Vol. 57 ›› Issue (12) : 1280-1286. DOI: 10.16511/j.cnki.qhdxxb.2017.21.032

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MPC based longitudinal coordinated collision avoidance for multiple connected vehicles

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Abstract

The rapid development of vehicle collision warning systems has improved the road traffic safety. Current collision avoidance strategies, however, solely focus on the relationship between two consecutive vehicles, while ignoring the influence of avoidance strategies on the traffic flow behind the vehicle. A longitudinal coordinated collision avoidance (CCA) strategy was developed based on model predictive control (MPC) for multiple connected vehicles. The model considers multiple vehicle flow dynamics to minimize the total relative kinetic energy density (RKED) as the objective with and the optimization problem in continuous time discretized into a quadratic programming problem for numerical calculations to avoid or reduce the total loss of vehicle collisions. The effectiveness of this method is verified by MATLAB simulations.

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coordinated collision avoidance (CCA) / relative kinetic energy density / model predictive control

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HU Manjiang, XU Biao, QIN Hongmao, XU Cheng, DING Ke, WANG Jianqiang. MPC based longitudinal coordinated collision avoidance for multiple connected vehicles[J]. Journal of Tsinghua University(Science and Technology). 2017, 57(12): 1280-1286 https://doi.org/10.16511/j.cnki.qhdxxb.2017.21.032

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