Collision imminent steering is an automotive active safety feature designed to perform an aggressive lane change to avoid a forward collision in the event that the system determines there is insufficient distance to avoid a collision by braking alone.In this paper, a collision imminent steering system is developed using nonlinear model predictive control to perform a lane change at high speed in a highway environment. Two formulations are presented: one formulation to show the theoretical minimum lane change distance within which a safe lane change can be performed, and a second formulation to find the minimum aggressive maneuver for a given lane change distance. The nonlinear model predictive control formulation is posed as a constrained optimization problem, where solutions obey hard safety constraints of the highway environment. Constraint aggregation techniques are analyzed and introduced to monitor the peak tire slip throughout the maneuver. Numerical simulations of a typical luxury sedan in a highway setting show that minimum distance required to change lanes is about half the limit braking distance. Hence, there is a window of feasibility where the vehicle cannot avoid collision by braking alone, but can change lanes safely and maintain a safe trajectory throughout the maneuver. Additional simulations show that an active four wheel steering architecture improves performance over front only steering.

中文翻译：

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使用非线性模型预测控制的高速碰撞迫近转向

碰撞迫在眉睫的转向是一种汽车主动安全功能，旨在在系统确定没有足够的距离来避免仅通过制动避免碰撞的情况下执行激进的车道变换以避免前方碰撞。在本文中，碰撞迫在眉睫的转向系统是开发使用非线性模型预测控制在高速公路环境中高速执行车道变换。提出了两种公式：一个公式显示理论上可以执行安全换道的最小换道距离，第二个公式用于找到给定换道距离的最小主动机动。非线性模型预测控制公式作为约束优化问题提出，其中解决方案服从公路环境的硬安全约束。分析并引入约束聚合技术以监控整个机动过程中的峰值轮胎滑移。高速公路环境中典型豪华轿车的数值模拟表明，改变车道所需的最小距离约为限制制动距离的一半。因此，存在一个可行的窗口，即车辆无法仅通过制动来避免碰撞，但可以安全变道并在整个机动过程中保持安全轨迹。额外的模拟表明，主动四轮转向架构提高了前轮转向的性能。存在一个可行性窗口，即车辆无法仅通过制动来避免碰撞，但可以安全变道并在整个机动过程中保持安全轨迹。额外的模拟表明，主动四轮转向架构提高了前轮转向的性能。存在一个可行性窗口，即车辆无法仅通过制动来避免碰撞，但可以安全变道并在整个机动过程中保持安全轨迹。额外的模拟表明，主动四轮转向架构提高了前轮转向的性能。