Pre-emptive Braking Control for Stability Improvement of Autonomous Vehicles on a Curved Road Based on Vehicle-to-Everything Technology

Abstract

Vehicle-to-everything (V2X) technology has played an important role in improving the active safety of autonomous vehicles. In order to improve the stability of the autonomous vehicle on the curved road, this article presents a pre-emptive braking control method based on V2X technology. Instead of using the active safety system to try to stabilize the vehicle in case of danger, the pre-emptive braking action is proposed to reduce the vehicle speed in advance to a level that allows safe navigation of the turn to avoid danger. It is assumed that the friction and curvature of the curved road ahead can be obtained through V2X technology. Combined with a linear two degrees of freedom (2-DOF) bicycle model, an optimal control method is adopted to calculate the front and rear wheel steering angles to track the centerline of the curve lane. A more complex vehicle dynamics model established earlier is selected for simulation analysis to verify the proposed control method. The results show that the proposed control method can improve greatly the stability of the autonomous vehicle on the curved road.