RESUMEN
In view of the need for emergency steering to avoid collision when the vehicle is in a dangerous scene, and the stability control of the vehicle during collision avoidance. This paper proposes a planning and control framework. A path planner considering the kinematics and dynamics of the vehicle system is used to formulate the safe driving path under emergency conditions. LQR lateral control algorithm is designed to calculate the output steering wheel angle. On this basis, adaptive MPC control algorithm and four-wheel braking force distribution control algorithm are designed to achieve coordinated control of vehicle driving stability and collision avoidance safety. The simulation results show that the proposed algorithm can complete the steering collision avoidance task quickly and stably.