Abstract
In recent years, autonomous collision avoidance system has been put to practical use by various automotive companies. This study proposes an autonomous obstacle avoidance system as a one of the active safety technology for electric vehicle with four in-wheel motors. The vehicle is controlled to avoid the obstacle automatically by the individually braking/driving forces and steering angle. The optimal inputs are obtained by solving state-dependent Riccati equation (SDRE). SDRE method is one of solution of nonlinear optimal regulation problem. This paper proposes the solution of SDRE as a nonlinear optimal regulator to collision avoidance and stabilizes the motion dynamics of the vehicle.
