Vehicle dynamics control for collision avoidance considering physical limitations

In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. We consider an unavoidable region (UR), which is constructed as the region in which the vehicle cannot avoid an obstacle owing to physical limitations. Even if the distance between the vehicle and the obstacle is short, the vehicle is directed by the nonlinear model predictive control (NMPC) not only to avoid the UR but also to stay on the road. A performance index for satisfying the above constraints is constructed with smooth functions, and control responses are investigated through numerical simulations.