HIGHLIGHTS
SUMMARY
The structure of the integrated emergency collision avoidance strategy by 4 WS, ARS and DB based on AMPC theory is set up in "Collision avoidance strategy design" section. Considering both path-tracking accuracy and driving stability, the collision avoidance controller is proposed by integrating with 4 WS, ARS, and DB based on AMPC. The peak values of LTR by AMPC, PID, and no control are approximately 0.88, 0.94, and 0.98 respectively, which means that the proposed rollover controller can enhance the roll stability of the vehicle in emergency collision avoidance. In . . .
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