Research on Active Collision Avoidance Control Algorithm for Blind Zone Based on Potential Energy Field

In order to solve the problem that a single longitudinal control cannot meet the active collision avoidance demand of intelligent vehicles, we firstly investigated the trajectory planning of intelligent driving. We established the risk potential energy field for blind zone collision avoidance, which is simple and easy to realize the path smoothing of the simultaneously generated paths. We then verified the linear time-varying model prediction control (LTV-MPC) and the general model predictive control (LTI-MPC), respectively, on the planned trajectory tracking effects produced. Finally, a finite state machine active collision avoidance model with lateral and longitudinal combination is designed. The simulation results show that the algorithms designed in this paper all have better collision avoidance comfort compared with the traditional algorithms.