Research on Active Avoidance Control of Intelligent Vehicles Based on Layered Control Method

To meet the active avoidance requirements of intelligent vehicles, this paper proposes an efficient hierarchical control system. The upper layer generates a safe avoidance trajectory through an optimized path planning algorithm, while the lower layer precisely controls the vehicle to follow the planned path. In the upper layer design, an improved quintic polynomial method is employed to generate the baseline trajectory. By dynamically adjusting lane change duration and utilizing an improved dual-quintic algorithm, collisions with preceding vehicles are effectively avoided. Additionally, a genetic algorithm is applied to automatically optimize parameters, ensuring both driving comfort and planning efficiency. The lower layer control is based on a three-degree-of-freedom monorail vehicle model and the Magic Formula tire model, employing a model predictive control (MPC) approach to continuously correct trajectory deviations in real time, thereby ensuring stable path tracking. To validate the proposed system, a co-simulation environment integrating CarSim, PreScan, and MATLAB was established. The system was tested under various vehicle speeds and road conditions, including wet and dry surfaces. Experimental results demonstrate that the proposed system achieves a path tracking error of less than 0.002 m, effectively reducing accident risks while enhancing the smoothness of the avoidance process. This hierarchical design decomposes the complex avoidance task into planning and control, simplifying system development while balancing safety and real-time performance. The proposed method provides a practical solution for active collision avoidance in intelligent vehicles.