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In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. The C/GMRES algorithm is used for solving the nonlinear model predictive control (NMPC) problem within a short sampling period. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. Here, to consider whether it is possible to avoid an obstacle physically, an unavoidable region (UR) is constructed as the region in which the vehicle cannot avoid the obstacle owing to physical limitations. Even if the distance between the vehicle and the obstacle is short, the vehicle is controlled by NMPC not only to avoid the UR but also to stay on the road. A performance index for satisfying the above constraints is proposed, and control responses are investigated through numerical simulations.
Nanao et al. (Wed,) studied this question.