Minimum collision avoidance distance control for four-wheel-driven electric vehicles with active front and rear steerings

In this paper, an automatic collision avoidance method is studied, where it is formulated as an optimal control problem. Specifically, the problem is designed as minimization of the longitudinal distance to prevent collision. The optimal force inputs are obtained by the initial longitudinal and lateral velocities of the vehicle, as well as the lateral distance to avoid the obstacle. Then, the inputs are distributed to each tire force. By effectively using the tire-workload, collision avoidance performance is improved. Simulations and experiments are conducted to verify the effectiveness of the proposed approach.