Research on intelligent vehicle collision avoidance control considering road adhesion coefficient

To improve collision avoidance and stability of intelligent driving vehicles in emergencies, a control method considering road adhesion is proposed. First, a Kalman filter estimates the road adhesion coefficient in real time based on tire-road interaction. Then, a lateral and longitudinal controller is designed to track the optimal collision avoidance trajectory by applying brakes and generating the optimal steering angle. The controller includes constraints for low-adhesion surfaces to reduce instability. Finally, a joint simulation platform using Prescan, CarSim, and Simulink validates the system. Results show that, compared with the other two control strategies, the designed control strategy can reduce the vehicle's peak sideslip angle by 7.14% and 32.08% respectively in emergency situations, thus enhancing the vehicle's collision avoidance ability and driving stability.