Decision making methods based on nonlinear model predictive control for emergency collision avoidance in complex situations (ICCAS 2014)

This paper presents the development of an algorithm that uses nonlinear model predictive control (NMPC) to avoid collisions between a driver's vehicle and the nearby vehicles in complex situations. In particular, the paths of the driver's vehicle and the nearby vehicles are predicted to avoid collisions. NMPC is used to predict the paths of all vehicles, and if a collision is detected in the predicted path, the driver's vehicle attempts to avoid the collision through a left lane change, right lane change, or braking maneuver. Several scenarios are implemented through MATLAB/Simulink simulations to verify the performance of the proposed algorithms when multiple vehicles are engaged in sudden lane change movements.