{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T09:48:52Z","timestamp":1767260932643,"version":"3.41.2"},"reference-count":48,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2022,11,25]],"date-time":"2022-11-25T00:00:00Z","timestamp":1669334400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Concurrency and Computation"],"published-print":{"date-parts":[[2023,1,25]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Based on the distributed drive intelligent electric vehicle, considering the collision avoidance effect of the planned path, the path tracking accuracy, and the body stability requirements in the process of steering collision avoidance, this article proposes a control strategy for emergency steering collision avoidance. First, the fifth\u2010order polynomial method is used to generate collision avoidance paths, and then a designed cost function is used to evaluate and select the optimal collision avoidance path. Second, a decision\u2010making strategy that integrates multiple risk judgment models is built. Based on the model prediction method, a path tracking controller is built, and an optimization objective function is established to improve the tracking accuracy. In order to ensure the stability of the vehicle body, a vehicle stability controller is designed based on fuzzy theory. Finally, a vehicle\u2010in\u2010the\u2010loop intelligent driving algorithm test platform is built, and the control algorithm is tested through this platform. The test results show that compared with the pure path tracking control method, the control strategy is reasonable and effective and can better reduce the path tracking error and improve the vehicle's driving stability in the collision avoidance process.<\/jats:p>","DOI":"10.1002\/cpe.7486","type":"journal-article","created":{"date-parts":[[2022,11,26]],"date-time":"2022-11-26T04:27:20Z","timestamp":1669436840000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Emergency steering collision avoidance control based on distributed driving intelligent vehicles"],"prefix":"10.1002","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0474-5769","authenticated-orcid":false,"given":"Shaopeng","family":"Zhu","sequence":"first","affiliation":[{"name":"Power Machinery &amp; Vehicular Engineering Institute College of Energy Engineering, Zhejiang University Hangzhou China"},{"name":"State Key Laboratory of Clean Energy Utilization Zhejiang University Hangzhou China"}]},{"given":"Bangxuan","family":"Wei","sequence":"additional","affiliation":[{"name":"Power Machinery &amp; Vehicular Engineering Institute College of Energy Engineering, Zhejiang University Hangzhou China"}]},{"given":"Chaoxin","family":"Chen","sequence":"additional","affiliation":[{"name":"Power Machinery &amp; Vehicular Engineering Institute College of Energy Engineering, Zhejiang University Hangzhou China"}]},{"given":"Jian","family":"Gao","sequence":"additional","affiliation":[{"name":"Polytechnic Institute Zhejiang University Hangzhou China"}]},{"given":"Wenbo","family":"Ning","sequence":"additional","affiliation":[{"name":"BBK Test Systems Co, Ltd Beijing China"}]},{"given":"Zhi","family":"Huang","sequence":"additional","affiliation":[{"name":"BBK Test Systems Co, Ltd Beijing China"}]}],"member":"311","published-online":{"date-parts":[[2022,11,25]]},"reference":[{"key":"e_1_2_12_2_1","unstructured":"ZhaoweiW.Research on End\u2010to\u2010End Deep Reinforcement Learning Control of Intelligent Vehicle Based on PPO Algorithm. Dissertation. Jilin University;2021."},{"key":"e_1_2_12_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2021.3056578"},{"issue":"2","key":"e_1_2_12_4_1","first-page":"241","article-title":"A hybrid BlockChain\u2010based identity authentication scheme for multi\u2010WSN","volume":"13","author":"Cui Z","year":"2020","journal-title":"IEEE Trans Serv Comput"},{"key":"e_1_2_12_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/cpe.5182"},{"key":"e_1_2_12_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.011.2000331"},{"key":"e_1_2_12_7_1","unstructured":"LijiaoZ.Research on User Privacy Security in Intelligent Parking System. Dissertation. Southwest University;2021."},{"key":"e_1_2_12_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2944748"},{"key":"e_1_2_12_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/3490237"},{"key":"e_1_2_12_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2022.3145845"},{"key":"e_1_2_12_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.future.2019.02.060"},{"key":"e_1_2_12_12_1","unstructured":"ZhaoY.Research on Causes of Rear\u2010End Collision and Behavior of Avoiding Collision Based on Deep Data Analysis. Dissertation. Northeast Forestry University;2021."},{"key":"e_1_2_12_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2198214"},{"issue":"9","key":"e_1_2_12_14_1","first-page":"86","article-title":"Path planning and tracking control for emergency lane change and obstacle avoidance of vehicles","volume":"48","author":"Jiaxu Z","year":"2020","journal-title":"J South China Univ Technol"},{"issue":"4","key":"e_1_2_12_15_1","first-page":"1","article-title":"A vehicle safety distance model for collision avoidance system based on emergency lane change motion","volume":"26","author":"Mingyuan B","year":"2012","journal-title":"J Chongqing Univ Technol Nat Sci"},{"key":"e_1_2_12_16_1","doi-asserted-by":"crossref","unstructured":"WildeDK.Computing clothoid segments for trajectory generation. Proceedings of the 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems;2009:2440\u20102445; IEEE.","DOI":"10.1109\/IROS.2009.5354700"},{"key":"e_1_2_12_17_1","unstructured":"ZantenA.Bosch ESP Systems: 5\u2009years of experience. SAE Paper 2000\u201001\u20101633 2000."},{"issue":"11","key":"e_1_2_12_18_1","first-page":"1735","article-title":"Automatic emergency control strategy for smart cars","volume":"43","author":"Lin L","year":"2015","journal-title":"J Tongji Univ"},{"key":"e_1_2_12_19_1","unstructured":"KaiW.Research on Lane Changing Assistant System Based on Model Predictive Control. Dissertation. Hefei University of Technology;2018."},{"key":"e_1_2_12_20_1","doi-asserted-by":"crossref","unstructured":"CheeW TomizukaM PatwardhanS ZhangWB.Experimental study of lane change maneuver for AHS applications. Proceedings of 1995 American Control Conference \u2010 ACC'95 Vol. 1;1995:139\u2010143; IEEE.","DOI":"10.1109\/ACC.1995.529224"},{"key":"e_1_2_12_21_1","unstructured":"QingkunJ.Threat Assessment and Trajectory Planning for Intelligent Vehicle Obstacle Avoidance System. Dissertation. Jilin University;2016."},{"key":"e_1_2_12_22_1","doi-asserted-by":"crossref","unstructured":"MouhagirH TaljR CherfaouiV AiounF GuillemardF.Integrating safety distances with trajectory planning by modifying the occupancy grid for autonomous vehicle navigation. Proceedings of the IEEE International Conference on Intelligent Transportation Systems;2016:1114\u20101119; IEEE.","DOI":"10.1109\/ITSC.2016.7795696"},{"key":"e_1_2_12_23_1","doi-asserted-by":"crossref","unstructured":"ShibataN SugiyamaS WadaT.Collision avoidance control with steering using velocity potential field. 2014 IEEE Intelligent Vehicles Symposium Proceedings;2014:438\u2010443; IEEE.","DOI":"10.1109\/IVS.2014.6856469"},{"key":"e_1_2_12_24_1","doi-asserted-by":"publisher","DOI":"10.3182\/20140824-6-ZA-1003.01143"},{"issue":"6","key":"e_1_2_12_25_1","first-page":"32","article-title":"Intelligent vehicle emergency obstacle avoidance system based on model predictive control","volume":"177","author":"Xudong Z","year":"2020","journal-title":"J Qingdao Univ Technol"},{"issue":"12","key":"e_1_2_12_26_1","first-page":"1647","article-title":"Research on active collision avoidance control of vehicles under different emergency conditions","volume":"42","author":"Xiaofei P","year":"2020","journal-title":"Automot Eng"},{"key":"e_1_2_12_27_1","unstructured":"Ying\u2010zeZ.Development of Emergency Steering Assistant Obstacle Avoidance System under Urban Conditions. Dissertation. Jilin Universit;2019."},{"issue":"10","key":"e_1_2_12_28_1","first-page":"1109","article-title":"Integrated control of unmanned distributed driven vehicles path tracking and stability","volume":"41","author":"Te C","year":"2019","journal-title":"Automot Eng"},{"key":"e_1_2_12_29_1","unstructured":"Shao\u2010pengZ ChaoxinC LeiQ et al.Design of emergency steering collision avoidance strategy based on stability control for distributed drive electric vehicles. Proceedings of the 2021 China Society of Automotive Engineering;2021:848\u2010855; Beijing: China Machinery Industry Press."},{"issue":"3","key":"e_1_2_12_30_1","first-page":"27","article-title":"Design of control system of distributed wheel\u2010side\u2010rear drive for electric city buses","volume":"42","author":"Linfeng X","year":"2020","journal-title":"Bus Coach Technol Res"},{"issue":"36","key":"e_1_2_12_31_1","first-page":"15100","article-title":"A path tracking method for distributed drive vehicle based on model predictive control\u2010fuzzy control","volume":"20","author":"Yao W","year":"2020","journal-title":"Sci Technol Eng"},{"issue":"11","key":"e_1_2_12_32_1","first-page":"1513","article-title":"Study on coordinated control of trajectory tracking and yaw stability for autonomous four\u2010wheel\u2010independent\u2010driving electric vehicles","volume":"42","author":"Lei Z","year":"2020","journal-title":"Automot Eng"},{"key":"e_1_2_12_33_1","doi-asserted-by":"crossref","unstructured":"ZouY GuoN ZhangX.An integrated path\u2010following and yaw motion control strategy for autonomous distributed drive electric vehicles with differential steering. Proceedings of the 2019 IEEE Intelligent Vehicles Symposium;2019:1987\u20101992; IEEE.","DOI":"10.1109\/IVS.2019.8813833"},{"key":"e_1_2_12_34_1","first-page":"30","article-title":"Stability control of distributed driving electric vehicle under emergency obstacle avoidance","volume":"7","author":"Huanhuan Z","year":"2019","journal-title":"Automobile Technol"},{"key":"e_1_2_12_35_1","unstructured":"Nathaniel Hawthorne Sledge.An Investigation of Vehicle Critical Speed and its Influence on Lane\u2010Change Trajectories. Dissertation. Texas Universit;1997."},{"key":"e_1_2_12_36_1","unstructured":"ZhenhaoC.Design and Research of Driver Handover Safety Experience Based on Process Characteristics. Dissertation. Hunan Universit;2020."},{"issue":"2","key":"e_1_2_12_37_1","first-page":"263","article-title":"DEAL: differentially private auction for blockchain based microgrids energy trading","volume":"13","author":"Hassan M","year":"2020","journal-title":"IEEE Trans Serv Comput"},{"key":"e_1_2_12_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSC.2020.2964552"},{"key":"e_1_2_12_39_1","unstructured":"YahuiW.Cognitive Mechanism and Evaluation Method of Human\u2010Machine Interaction in Intelligent Vehicle Cockpit. Dissertation. Northwestern Polytechnical University;2019."},{"key":"e_1_2_12_40_1","doi-asserted-by":"publisher","DOI":"10.3389\/fpsyg.2022.875310"},{"key":"e_1_2_12_41_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jretconser.2022.102970"},{"key":"e_1_2_12_42_1","unstructured":"WanhongL.A Thesis Submitted to Chongqing University In Partial Fulfillment of the Requirement for the Master's Degree of Engineering. Dissertation. Chongqing Universit;2021."},{"key":"e_1_2_12_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2020.3040019"},{"key":"e_1_2_12_44_1","doi-asserted-by":"publisher","DOI":"10.1002\/cpe.5478"},{"key":"e_1_2_12_45_1","doi-asserted-by":"publisher","DOI":"10.1002\/cpe.5464"},{"issue":"4","key":"e_1_2_12_46_1","first-page":"385","article-title":"Nonlinear model predictive control: the state and open problems","volume":"16","author":"Hong C","year":"2001","journal-title":"Control Decis"},{"key":"e_1_2_12_47_1","unstructured":"QitaoF.Stability Control System Design for Distributed Drive Electric Bus. Dissertation. Zhejiang University;2021."},{"key":"e_1_2_12_48_1","unstructured":"XiaoyuL.Research on Instability Mechanism and Handling Stability Control of Distributed Drive Electric Vehicles under Combined Slip Condition. Dissertation. Jilin University;2020."},{"key":"e_1_2_12_49_1","series-title":"Mechanical Engineering Series","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1007\/978-1-4614-1433-9","volume-title":"Vehicle Dynamics and Control","author":"Rajamani R","year":"2012"}],"container-title":["Concurrency and Computation: Practice and Experience"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/cpe.7486","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/cpe.7486","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/cpe.7486","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,9]],"date-time":"2024-10-09T15:39:17Z","timestamp":1728488357000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/cpe.7486"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11,25]]},"references-count":48,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2023,1,25]]}},"alternative-id":["10.1002\/cpe.7486"],"URL":"https:\/\/doi.org\/10.1002\/cpe.7486","archive":["Portico"],"relation":{},"ISSN":["1532-0626","1532-0634"],"issn-type":[{"type":"print","value":"1532-0626"},{"type":"electronic","value":"1532-0634"}],"subject":[],"published":{"date-parts":[[2022,11,25]]},"assertion":[{"value":"2022-06-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-09-12","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-11-25","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e7486"}}