{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:40:20Z","timestamp":1777927220196,"version":"3.51.4"},"reference-count":30,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2019,5,10]],"date-time":"2019-05-10T00:00:00Z","timestamp":1557446400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51505354"],"award-info":[{"award-number":["51505354"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2019,11]]},"abstract":"<jats:p>Leveraging the advancements in sensor and mapping technologies, the collision-free autonomous vehicle becomes possible in the future. In this article, a case study of collision avoidance by active steering control is presented and verified by a driver-in-the-loop platform. The proposed control system integrates a risk assessment algorithm and a hierarchical model predictive control approach to ensure a safe driving. First, a fuzzy logic is used to estimate the potential conflict. Besides, a nonlinear model predictive control is introduced in the upper layer of the model predictive controller to generate a collision-free trajectory. Furthermore, the lower layer determines the optimal steering angle based on the linear time-variant model predictive control to follow the replanning path. The performance of the controller has been evaluated in the real-time driver-in-the-loop test. The results show that the autonomous vehicle is able to avoid the collision with the surrounding vehicle that is operated by a real driver, and the performance of collision avoidance is improved by means of the risk assessment.<\/jats:p>","DOI":"10.1177\/0959651819847005","type":"journal-article","created":{"date-parts":[[2019,5,10]],"date-time":"2019-05-10T05:49:30Z","timestamp":1557467370000},"page":"1422-1437","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Active steering control for autonomous vehicles based on a driver-in-the-loop platform: A case study of collision avoidance"],"prefix":"10.1177","volume":"233","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1678-6530","authenticated-orcid":false,"given":"Keji","family":"Chen","sequence":"first","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8283-9277","authenticated-orcid":false,"given":"Xiaofei","family":"Pei","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daoyuan","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenfu","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuexun","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Konghui","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,5,10]]},"reference":[{"key":"bibr1-0959651819847005","volume-title":"Vehicle dynamics and control","author":"Rajamani R","year":"2006"},{"key":"bibr2-0959651819847005","doi-asserted-by":"publisher","DOI":"10.1109\/87.370719"},{"key":"bibr3-0959651819847005","doi-asserted-by":"publisher","DOI":"10.1080\/00423119808969456"},{"key":"bibr4-0959651819847005","doi-asserted-by":"publisher","DOI":"10.1109\/37.295971"},{"key":"bibr5-0959651819847005","first-page":"2093","volume-title":"Proceedings of the 17th IFAC world congress","author":"Kang J"},{"key":"bibr6-0959651819847005","volume-title":"Automatic steering methods for autonomous automobile path tracking","author":"Snider MJ","year":"2009"},{"key":"bibr7-0959651819847005","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2013.0056"},{"key":"bibr8-0959651819847005","doi-asserted-by":"crossref","unstructured":"Seo J, Yi K. 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