This article presents a novel integrated path-following, crash avoidance, and crash mitigation control algorithm for autonomous vehicles. To improve stability and tracking accuracy of the algorithm in extreme conditions, combined-slip tire forces are considered in the system model. A predictive control framework that monitors slip conditions at each tire is then developed to achieve good dynamics performance by controlling active front steer and brake modulation at each corner. A novel switching mechanism that does not rely on a separate path generation module is designed for avoidance and mitigation phases, which is verified in various harsh driving conditions. Another strong point is the objective function for the crash mitigation phase that is developed based on real-world crash statistics. Simulation results confirm that the proposed algorithm can not only track the desired path in normal driving phase, but also avoid crash and reduce crash severity with ensured vehicle stability.

中文翻译：

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自动驾驶汽车的综合防撞和缓解算法

本文介绍了一种用于自动驾驶汽车的新型集成路径跟踪、碰撞避免和碰撞缓解控制算法。为了提高算法在极端条件下的稳定性和跟踪精度，系统模型中考虑了组合滑移轮胎力。然后开发了一个预测控制框架，用于监控每个轮胎的打滑情况，通过控制每个弯道的主动前转向和制动调制来实现良好的动态性能。一种不依赖于单独路径生成模块的新型切换机制专为避免和缓解阶段而设计，并在各种恶劣的驾驶条件下得到验证。另一个优点是基于真实世界碰撞统计数据开发的碰撞缓解阶段的目标函数。