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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Research on Active Collision Avoidance Control of Vehicles Based on Estimation of Road Surface Adhesion Coefficient

by
Hongxiang Wang
,
Jian Wang
* and
Ruofei Du
College of Automotive Engineering, Shandong Jiaotong University, Jinan 250353, China
*
Author to whom correspondence should be addressed.
World Electr. Veh. J. 2025, 16(9), 489; https://doi.org/10.3390/wevj16090489
Submission received: 23 June 2025 / Revised: 18 August 2025 / Accepted: 26 August 2025 / Published: 27 August 2025
Versions Notes

Abstract

In order to solve the problem that intelligent vehicle active collision avoidance systems have different decision-making results under different road conditions, the square-root cubature Kalman filtering algorithm is used to estimate the road adhesion coefficients, which are introduced into the safety distance model and combined with the fireworks algorithm for braking and steering weight coefficient allocation to ensure that the vehicle can safely avoid collision. The simulation results show that the square-root cubature Kalman filter has higher estimation accuracy and robustness compared with the cubature Kalman filter, and a more reasonable collision avoidance control can be adopted in the subsequent collision avoidance control. Therefore, the proposed new estimation method of road adhesion coefficients proves effective in mitigating vehicle collision risks.
Keywords: intelligent vehicle; square-root cubature Kalman filter; adhesion coefficient estimation; collision avoidance control intelligent vehicle; square-root cubature Kalman filter; adhesion coefficient estimation; collision avoidance control

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MDPI and ACS Style

Wang, H.; Wang, J.; Du, R. Research on Active Collision Avoidance Control of Vehicles Based on Estimation of Road Surface Adhesion Coefficient. World Electr. Veh. J. 2025, 16, 489. https://doi.org/10.3390/wevj16090489

AMA Style

Wang H, Wang J, Du R. Research on Active Collision Avoidance Control of Vehicles Based on Estimation of Road Surface Adhesion Coefficient. World Electric Vehicle Journal. 2025; 16(9):489. https://doi.org/10.3390/wevj16090489

Chicago/Turabian Style

Wang, Hongxiang, Jian Wang, and Ruofei Du. 2025. "Research on Active Collision Avoidance Control of Vehicles Based on Estimation of Road Surface Adhesion Coefficient" World Electric Vehicle Journal 16, no. 9: 489. https://doi.org/10.3390/wevj16090489

APA Style

Wang, H., Wang, J., & Du, R. (2025). Research on Active Collision Avoidance Control of Vehicles Based on Estimation of Road Surface Adhesion Coefficient. World Electric Vehicle Journal, 16(9), 489. https://doi.org/10.3390/wevj16090489

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