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JRM Vol.37 No.4 pp. 835-851
doi: 10.20965/jrm.2025.p0835
(2025)

Paper:

Views over last 60 days: 13

Driving Assistance for Collision Avoidance by Simultaneous Intervention in Steering and Throttle Operations

Renlong Wu ORCID Icon and Nobutaka Wada ORCID Icon

Graduate School of Advanced Science and Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan

Received:
November 14, 2024
Accepted:
February 19, 2025
Published:
August 20, 2025
Creative Commons License
Keywords:
shared control, model predictive control, collision avoidance, steering wheel torque control, acceleration control
Abstract

This paper presents a novel shared control algorithm based on quasi-linear parameter varying model predictive control (qLPV-MPC) for the purpose of preventing vehicle collisions during lane-changing maneuvers and maintaining the vehicle’s position within the lane at all times. The algorithm optimizes the control solution by transforming it into a quadratic programming problem, thus enhancing computational efficiency. By sharing control over both vehicle acceleration and steering wheel torque, the algorithm provides coupled lateral and longitudinal dynamic control, allowing simultaneous acceleration/deceleration adjustments and steering torque application for effective collision avoidance. Notably, the algorithm operates independently of a reference path, allowing the driver to retain primary control over vehicle movement, while the controller intervenes only in high-risk situations. Simulation scenarios, including rear-end, side-impact, and multi-vehicle collision cases, are employed to validate the algorithm’s effectiveness in various collision avoidance contexts.

Safe overtaking via shared control

Safe overtaking via shared control

Cite this article as:
R. Wu and N. Wada, “Driving Assistance for Collision Avoidance by Simultaneous Intervention in Steering and Throttle Operations,” J. Robot. Mechatron., Vol.37 No.4, pp. 835-851, 2025.
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Last updated on Aug. 19, 2025