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Mathematical Problems in Engineering
Volume 2015, Article ID 276460, 9 pages
Research Article

Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

School of Automotive and Traffic Engineering, Jiangsu University of Technology, Changzhou, Jiangsu 213001, China

Received 8 August 2014; Revised 29 October 2014; Accepted 16 November 2014

Academic Editor: Yi-Chung Hu

Copyright © 2015 Wang Wei et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique of vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver are the control variables; the minimum time required to complete the fitting biker line change is the control object. By using the improved direct multiple shooting method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle minimum time maneuver problem, and can compare the maneuverability of two different vehicles that complete fitting biker line change with the minimum time and the correctness of the model is verified through real vehicle test.