Autonomous Collision Avoidance System Using Combined Four-Wheel Steering And Direct Yaw-Moment Control

Nowadays autonomous vehicle caused by the automotive research world. The evolution of an autonomous vehicle caused by the increase in an accident happened due to human error. In reducing the number of accident that commonly happen to the road, many researchers conducted several studies on the collision avoidance system. This is project will focus on modelling the eight-degree-of-freedom vehicle model using Dugoff's Tire Model and the development of the quintic polynomial trajectory generation as the reference trajectory for overtaking maneuver by reducing the jerk. Then, the integrated controller for the lateral and longitudinal dynamics is based on combined four-wheel steering control and direct yaw-moment control is designed to track the reference trajectory. The performance of the collision avoidance controller is evaluated by using MATLAB Simulink. The results show that the proposed controller is able to follow the desired trajectory of the overtaking maneuver. However, two-stage square sum minimization