Abstract: Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique for vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Based on a new optimal control method-Gauss pseudospectral method(GPM), the steering angle input and the traction/ brake force imposed by driver are the control variables, the minimum time required to complete the double lane change is the control object. By using the Gauss pseudospectral method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming(SQP). The simulation results show that the proposed method is not sensitive to the initial value and the optimization efficiency is higher compared with indirect methods and traditional direct methods. When solving the vehicle minimum time maneuver problem with the method, boundary constrains and path constrains are well satisfied. Utilizing the method, the maneuverability of two different vehicles that complete double lane change with minimum time can be evaluated objectively. The correctness of the model is verified through real vehicle test.

Key words: Emergency collision avoidance, Gauss pseudospectral method, Real vehicle test, Simulation, Vehicle handling dynamics