{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T23:35:04Z","timestamp":1781739304020,"version":"3.54.5"},"reference-count":27,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,2,21]],"date-time":"2023-02-21T00:00:00Z","timestamp":1676937600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>In view of the need for emergency steering to avoid collision when the vehicle is in a dangerous scene, and the stability control of the vehicle during collision avoidance. This paper proposes a planning and control framework. A path planner considering the kinematics and dynamics of the vehicle system is used to formulate the safe driving path under emergency conditions. LQR lateral control algorithm is designed to calculate the output steering wheel angle. On this basis, adaptive MPC control algorithm and four-wheel braking force distribution control algorithm are designed to achieve coordinated control of vehicle driving stability and collision avoidance safety. The simulation results show that the proposed algorithm can complete the steering collision avoidance task quickly and stably.<\/jats:p>","DOI":"10.3389\/frobt.2023.1120658","type":"journal-article","created":{"date-parts":[[2023,2,21]],"date-time":"2023-02-21T04:34:00Z","timestamp":1676954040000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":6,"title":["Research on automatic emergency steering collision avoidance and stability control of intelligent driving vehicle"],"prefix":"10.3389","volume":"10","author":[{"given":"Zhaoyong","family":"Liu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gaobo","family":"Wen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wudong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"TanXiaoqiang","family":"Tan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guangqiang","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2023,2,21]]},"reference":[{"key":"B1","first-page":"15516","article-title":"Trajectory Planning and Vehicle Control at low speed for home zone manoeuvres","author":"Borrello","year":"2020"},{"key":"B2","doi-asserted-by":"publisher","first-page":"2974","DOI":"10.4271\/2020-01-1400","article-title":"Nonlinear model predictive control of autonomous vehicles considering dynamic stability constraints","volume":"2","author":"Chen","year":"2020","journal-title":"SAE Int. J. Adv. Curr. Pract. Mobil."},{"key":"B3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/15472450.2022.2046472","article-title":"Online longitudinal trajectory planning for connected and autonomous vehicles in mixed traffic flow with deep reinforcement learning approach","author":"Cheng","year":"2022","journal-title":"J. Intelligent Transp. Syst."},{"key":"B4","first-page":"155","article-title":"Collision warning with full auto brake and pedestrian detection - a practical example of automatic emergency braking","author":"Coelingh","year":"2010"},{"key":"B5","doi-asserted-by":"publisher","first-page":"104751","DOI":"10.1016\/j.conengprac.2021.104751","article-title":"A hierarchical framework of emergency collision avoidance amid surrounding vehicles in highway driving","volume":"109","author":"Cui","year":"2021","journal-title":"Control Eng. Pract."},{"key":"B6","doi-asserted-by":"publisher","first-page":"105074","DOI":"10.1016\/j.conengprac.2022.105074","article-title":"Towards longitudinal and lateral coupling control of autonomous vehicles using offset free MPC","volume":"121","author":"Ge","year":"2022","journal-title":"Control Eng. Pract."},{"key":"B7","doi-asserted-by":"publisher","first-page":"114581","DOI":"10.1016\/j.eswa.2021.114581","article-title":"Multi-attribute decision making on mitigating a collision of an autonomous vehicle on motorways","volume":"171","author":"Gilbert","year":"2021","journal-title":"Expert Syst. Appl."},{"key":"B8","first-page":"933","article-title":"Development of Autonomous Emergency Braking control system based on road friction","author":"Han","year":"2014"},{"key":"B9","doi-asserted-by":"publisher","first-page":"106768","DOI":"10.1016\/j.aap.2022.106768","article-title":"In-vehicle warnings for work zone and related rear-end collisions: A driving simulator experiment","volume":"174","author":"Hang","year":"2022","journal-title":"Accid. Analysis Prev."},{"key":"B10","doi-asserted-by":"publisher","first-page":"102820","DOI":"10.1016\/j.trc.2020.102820","article-title":"Risk assessment based collision avoidance decision-making for autonomous vehicles in multi-scenarios","volume":"122","author":"Li","year":"2021","journal-title":"Transp. Res. Part C-Emerging Technol."},{"key":"B11","doi-asserted-by":"publisher","first-page":"108499","DOI":"10.1016\/j.asoc.2022.108499","article-title":"Human-like motion planning of autonomous vehicle based on probabilistic trajectory prediction","volume":"118","author":"Li","year":"2022","journal-title":"Appl. Soft Comput."},{"key":"B12","doi-asserted-by":"publisher","first-page":"107947","DOI":"10.1016\/j.ymssp.2021.107947","article-title":"Coordinated longitudinal and lateral vehicle stability control based on the combined-slip tire model in the MPC framework","volume":"161","author":"Li","year":"2021","journal-title":"Mech. Syst. Signal Process."},{"key":"B13","doi-asserted-by":"publisher","first-page":"21675","DOI":"10.1109\/JSEN.2021.3059050","article-title":"Automated vehicle sideslip angle estimation considering signal measurement characteristic","volume":"21","author":"Liu","year":"2021","journal-title":"IEEE Sensors J."},{"key":"B14","doi-asserted-by":"crossref","DOI":"10.4271\/2017-01-1560","volume-title":"Vehicle stability criterion research based on phase plane method","author":"Liu","year":"2017"},{"key":"B15","first-page":"1584","article-title":"Intelligent vehicle sideslip angle estimation considering measurement signals delay","author":"Liu","year":"2018"},{"key":"B16","doi-asserted-by":"publisher","first-page":"173","DOI":"10.4271\/10-05-02-0012","article-title":"Robust multimachine control for bisynchronous propulsion traction chain of an electric vehicle","volume":"5","author":"Rabhi","year":"2021","journal-title":"Sae Int. J. Veh. Dyn. Stab. Nvh"},{"key":"B17","doi-asserted-by":"crossref","DOI":"10.1115\/DETC2020-22294","article-title":"Integrated strategy for automatic lane-changing decision and trajectory planning in dynamic scenario","author":"Ren","year":"2020"},{"key":"B18","doi-asserted-by":"publisher","first-page":"238","DOI":"10.1016\/j.trf.2014.06.002","article-title":"Evaluation of three different interaction designs for an automatic steering intervention","volume":"27","author":"Schieben","year":"2014","journal-title":"Transp. Res. Part F-Traffic Psychol. Behav."},{"key":"B19","doi-asserted-by":"publisher","first-page":"126","DOI":"10.1016\/j.jestch.2020.12.004","article-title":"An adaptive modified neural lateral-longitudinal control system for path following of autonomous vehicles","volume":"24","author":"Tork","year":"2021","journal-title":"Eng. Sci. Technology-an Int. Journal-Jestech"},{"key":"B20","volume-title":"Automotive theory","author":"Wu","year":"2021"},{"key":"B21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.4271\/10-07-01-0001","article-title":"Predictive shift strategy of dual-clutch transmission for driving safety on the curve road combined with an electronic map","volume":"7","author":"Wu","year":"2023","journal-title":"SAE Int. J. Veh. Dyn. Stab. NVH"},{"key":"B22","first-page":"1563","article-title":"Automated vehicle attitude and lateral velocity estimation using a 6-D IMU aided by vehicle dynamics","author":"Xia","year":"2018"},{"key":"B23","doi-asserted-by":"publisher","first-page":"109592","DOI":"10.1016\/j.automatica.2021.109592","article-title":"Bridging the gap between optimal trajectory planning and safety-critical control with applications to autonomous vehicles","volume":"129","author":"Xiao","year":"2021","journal-title":"Automatica"},{"key":"B24","doi-asserted-by":"publisher","first-page":"10668","DOI":"10.1109\/TVT.2020.2983738","article-title":"IMU-based automated vehicle body sideslip angle and attitude estimation aided by GNSS using parallel adaptive kalman filters","volume":"69","author":"Xiong","year":"2020","journal-title":"IEEE Trans. Veh. Technol."},{"key":"B25","doi-asserted-by":"publisher","first-page":"103864","DOI":"10.1016\/j.trc.2022.103864","article-title":"Coordinated trajectory planning for lane-changing in the weaving areas of dedicated lanes for connected and automated vehicles","volume":"144","author":"Yang","year":"2022","journal-title":"Transp. Res. Part C-Emerging Technol."},{"key":"B26","doi-asserted-by":"publisher","first-page":"191","DOI":"10.4271\/10-05-02-0013","article-title":"Stability control for a four-wheel-independent-drive electric vehicle based on model predictive control","volume":"5","author":"Zha","year":"2021","journal-title":"SAE Int. J. Veh. Dyn. Stab. NVH"},{"key":"B27","doi-asserted-by":"publisher","DOI":"10.4271\/2017-01-1585","article-title":"A nonlinear dynamic control design with conditional integrators applied to unmanned skid-steering vehicle","author":"Zhang","year":"2017"}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2023.1120658\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,21]],"date-time":"2023-02-21T04:34:03Z","timestamp":1676954043000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2023.1120658\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,21]]},"references-count":27,"alternative-id":["10.3389\/frobt.2023.1120658"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2023.1120658","relation":{},"ISSN":["2296-9144"],"issn-type":[{"value":"2296-9144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,21]]},"article-number":"1120658"}}