Automatic Obstacle Avoidance Module for a Car with Predictive Control and Measurement of the Instantaneous Velocity Vector

The work proposes a model of a car control system capable of automatically avoiding obstacles on the road. A system based on a predictive controller is used. To calculate the reference detour trajectory, we use the distance to the obstacle and its dimensions determined using lidar and a video camera. To speed up calculations, an adaptive controller-operating mode used, which divides the nonlinear trajectory into a number of linear sections. Accurate movement along the trajectory on the predicted horizon ensured by the controller output parameters—acceleration and rotation angle. These parameters calculated based on instantaneous velocity vector measurements using microwave Doppler sensors of the vehicle's rear wheels. The paper presents simulation results for a car model equipped with the necessary sensors.