Abstract:

A control algorithm, which combined the lane changing for collision avoidance under different road conditions with the adaptive cruise control, was established to deal with the dangerous conditions of emergency braking from the preceding vehicle. The scene model of emergency collision avoidance was proposed based on PreScan software, and the recursive least square algorithm was used to discriminate of road surface. The path for collision avoidance was planned based on distinguishable road, and the distance model which met the multivehicles movement constraints for the safety of lane changing was set. The collision avoidance system was used to monitor the motion states of vehicles to control of the vehicle to change lane for collision avoidance. The adaptive cruise control was used to keep a safety distance to avoid the rear collision between the own vehicle and the preceding vehicle in slow lane. The results show that the proposed algorithm was verified to be effective based on the co-simulation of PreScan and Matlab / Simulink, and the vehicle can avoid collision safely on the bituminous and ice-snow road.

Key words: vehiche safety/ , adaptive cruise control/ road surface identification/ , recursive least squares/ safety , distance/ lane change planning