Active Braking Strategy Considering VRU Motion States in Curved Road Conditions

Currently, the active braking system is primarily used to avoid collisions between vehicles and vulnerable road users (VRUs) traversing the road at a constant speed in straight road conditions. Research on the collision avoidance strategy has been conducted to enhance the protective effects of the active braking system for VRUs traversing the road in various motion states in curved road conditions. Firstly, the spatial position relationships between VRUs and turn-taking vehicles are established when VRUs traverse the road in various motion states from the outside or the inside of the curved road; a mathematical model is established to identify whether VRUs are in a dangerous condition. Secondly, the safe distance model is established to formulate the vehicle collision avoidance strategy. Thirdly, the active braking controller is designed based on the upper sliding mode control and the lower discrete PID control. Finally, the six collision test scenarios on the curved road are constructed by utilizing the Prescan and Matlab/Simulink software. The results show that the active braking system can avoid the collision between the vehicle and VRUs traversing the curved road in various motion states.