Abstract: An optimal control strategy for vehicle high-speed emergency lane change collision avoidance is proposed based on Radau pseudospectral method for solving the problem of trajectory planning and tracking control for vehicle high-speed emergency lane change collision avoidance. Firstly, the problem of trajectory planning and tracking control for vehicle high-speed emergency lane change collision avoidance is transformed into an optimal control problem of vehicle high-speed emergency lane change collision avoidance based on the combination of vehicle kinematics and kinetics model, which is then transformed again into a nonlinear programming problem by Radau pseudospectral method, and hence the optimum solution for the problem of trajectory planning and tracking control for vehicle high-speed emergency lane changing collision avoidance can be directly obtained: the desired longitudinal slip rates of tires and the desired steering angular speed of front wheels. Then, an adaptive sliding mode tracking control law of wheel slip rate, which has strong robustness for parameter perturbation and external interference, is devised based on discrete sliding mode variable structure control theory to achieve the tracking control of the desired longitudinal slip rates of tires. Finally, a model-in-the loop simulation system is built based on high-accuracy vehicle dynamics software to verify the feasibility and effectiveness of the control strategy proposed.

Key words: high-speed emergency lane change collision avoidance, trajectory planning and tracking control, Radau pseudospectral method, discrete sliding mode variable structure control