Inverse dynamics of vehicle minimum time manoeuvre for collision avoidance problem

Abstract

The paper describes a method for inverse dynamics of vehicle minimum time manoeuvre for collision avoidance problem. Based on this purpose, the vehicle minimum time manoeuvre for collision avoidance, which is treated as an optimal control problem, is firstly converted into a nonlinear programming problem by Gauss pseudospectral method (GPM) and is then solved with sequential quadratic programming (SQP). Finally, a real vehicle test was executed to verify the rationality of the proposed model and methodology. The results show that the simulation values are in good agreement with the real vehicle test values. The algorithm is not only precise, but can also shorten the evaluation period of vehicle handling stability and reduce the tremendous cost for real vehicle testing. The study can more truly simulate the emergency collision avoidance quality including the varying of minimum avoidable distance with different initial velocity.