Abstract This work presents a Nonlinear Model Predictive Control (NMPC) scheme to perform evasive maneuvers and avoid rear-end collisions. Rear-end collisions are among the most common road fatalities. To reduce the risk of collision, it is necessary for the controller to react as quickly as possible and exploit the full vehicle maneuverability (i.e., combined control of longitudinal and lateral dynamics). The proposed design relies on the simultaneous use of steering and braking actions to track the desired reference path and avoid collisions with the preceding vehicle. A planar vehicle model was used to describe the vehicle dynamics. In addition, the dynamics of the brake system were included in the NMPC prediction model. Furthermore, the controller incorporates constraints to ensure vehicle stability and account for actuator limitations. In this respect, the constraints were defined on Kamm circle and Ideal Brake Torque Distribution (IBD) logic for optimal tire force and brake torque distribution. To evaluate the design, the performance of the proposed NMPC was compared with two ”more classical” MPC designs that rely on: (i) a linear bicycle model, and (ii) a nonlinear bicycle model. The performance of these three controller designs was evaluated in simulation (using a high-fidelity vehicle simulator) via relevant KPIs, such as reference tracking Root Mean Square (RMS) error, controller’s rise/settling time, and Distance to Collision (i.e., the lateral distance by which collision was avoided safely). Different single-lane-change maneuvers were tested and the behavior of the controllers was evaluated in the presence of lateral wind disturbances, road friction variation, and maneuver aggressiveness.

中文翻译：

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用于自动驾驶的集成非线性模型预测控制

摘要 这项工作提出了一种非线性模型预测控制 (NMPC) 方案来执行规避机动和避免追尾碰撞。追尾事故是最常见的道路死亡事故之一。为了降低碰撞风险，控制器必须尽快做出反应并充分利用车辆的机动性（即纵向和横向动力学的组合控制）。所提出的设计依赖于同时使用转向和制动动作来跟踪所需的参考路径并避免与前车发生碰撞。平面车辆模型用于描述车辆动力学。此外，制动系统的动力学也包含在 NMPC 预测模型中。此外，控制器包含约束以确保车辆稳定性并考虑执行器限制。在这方面，约束是在 Kamm 圆和理想制动扭矩分配 (IBD) 逻辑上定义的，以实现最佳轮胎力和制动扭矩分配。为了评估设计，将提议的 NMPC 的性能与两个“更经典”的 MPC 设计进行比较，这些设计依赖于：(i) 线性自行车模型和 (ii) 非线性自行车模型。这三种控制器设计的性能通过相关 KPI 在仿真（使用高保真车辆模拟器）中进行评估，例如参考跟踪均方根 (RMS) 误差、控制器的上升/稳定时间和碰撞距离（即安全避免碰撞的横向距离）。测试了不同的单车道变换机动，并在存在横向风扰动、道路摩擦变化、