Path Tracking for Evasive Collision Avoidance Based on Active Disturbance Rejection Control

Abstract:

The automatic evasive collision avoidance system can promote the vehicle driving safety. A robust path tracking controller based on the active disturbance rejection control algorithm was proposed to improve the path tracking performance of vehicles with different mass parameters and different wheelbase parameters. The change of vehicle model parameters can be observed and compensated by the third order extended state observer. The cubic B spline was used to solve the curvature discontinuity and high lateral acceleration problems in path planning. Carsim and Simulink were used to verify the effectiveness of the proposed path tracking controller. The simulation results show that the proposed controller can control different vehicles to follow the predesigned evasive path very well, which can guarantee the stability of vehicles.