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Appl. Sci. 2017, 7(5), 504; doi:10.3390/app7050504

Advanced Emergency Braking Control Based on a Nonlinear Model Predictive Algorithm for Intelligent Vehicles

1,2
,
3,4,* , 1,2,†
,
5,†
and
5,†
1
Research Center of Intelligent Transportation System, School of Engineering, Sun Yat-sen University, Guangzhou 510275, China
2
Guangdong Key Laboratory of Intelligent Transportation System, School of Engineering, Sun Yat-sen University, Guangzhou 510275, China
3
School of Traffic and Environment, Shenzhen Institute of Information Technology, Shenzhen 518172, China
4
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
5
School of Civil Engineering and Transportation, South China University of Technology, Guangzhou 510640, China
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Academic Editor: César M. A. Vasques
Received: 31 December 2016 / Revised: 1 May 2017 / Accepted: 8 May 2017 / Published: 16 May 2017

Abstract

Focusing on safety, comfort and with an overall aim of the comprehensive improvement of a vision-based intelligent vehicle, a novel Advanced Emergency Braking System (AEBS) is proposed based on Nonlinear Model Predictive Algorithm. Considering the nonlinearities of vehicle dynamics, a vision-based longitudinal vehicle dynamics model is established. On account of the nonlinear coupling characteristics of the driver, surroundings, and vehicle itself, a hierarchical control structure is proposed to decouple and coordinate the system. To avoid or reduce the collision risk between the intelligent vehicle and collision objects, a coordinated cost function of tracking safety, comfort, and fuel economy is formulated. Based on the terminal constraints of stable tracking, a multi-objective optimization controller is proposed using the theory of non-linear model predictive control. To quickly and precisely track control target in a finite time, an electronic brake controller for AEBS is designed based on the Nonsingular Fast Terminal Sliding Mode (NFTSM) control theory. To validate the performance and advantages of the proposed algorithm, simulations are implemented. According to the simulation results, the proposed algorithm has better integrated performance in reducing the collision risk and improving the driving comfort and fuel economy of the smart car compared with the existing single AEBS. View Full-Text
Keywords: intelligent vehicle; Advanced Emergency Braking System; nonlinear model predictive control; hierarchical control; Nonsingular Fast Terminal Sliding Mode intelligent vehicle; Advanced Emergency Braking System; nonlinear model predictive control; hierarchical control; Nonsingular Fast Terminal Sliding Mode
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Zhang, R.; Li, K.; He, Z.; Wang, H.; You, F. Advanced Emergency Braking Control Based on a Nonlinear Model Predictive Algorithm for Intelligent Vehicles. Appl. Sci. 2017, 7, 504.

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