Research on Active Collision Avoidance Control of Vehicles Based on Estimation of Road Surface Adhesion Coefficient

In order to solve the problem that intelligent vehicle active collision avoidance systems have different decision-making results under different road conditions, the square-root cubature Kalman filtering algorithm is used to estimate the road adhesion coefficients, which are introduced into the safety distance model and combined with the fireworks algorithm for braking and steering weight coefficient allocation to ensure that the vehicle can safely avoid collision. The simulation results show that the square-root cubature Kalman filter has higher estimation accuracy and robustness compared with the cubature Kalman filter, and a more reasonable collision avoidance control can be adopted in the subsequent collision avoidance control. Therefore, the proposed new estimation method of road adhesion coefficients proves effective in mitigating vehicle collision risks.