Abstract: Aiming at the problem of active safety control modeling for autonomous vehicles, a combined method using the formal modeling and the dynamic non-cooperative game theory was proposed for discussing a control strategy of trajectory tracking and collision avoidance under dynamic conflict condition between autonomous vehicles. And it was proposed to divide the system control into three modes: trajectory tracking, collision avoidance and switching between trajectory tracking and collision avoidance. Taking into account the complexity as a hybrid systems and the existence of the trajectory tracking error for autonomous vehicle, a modeling approach based on reachable set was proposed for the collision avoidance control of vehicle. In addition, to ensure the stability of the trajectory tracking of vehicles, a switching algorithm with hysteresis characteristics was proposed. The system validation shows that the best stability is achieved for the proposed algorithm when the threshold α₁ = 0.05 and α₂ = 0.08. And the division of system control plays the advantage of independent model, which reduces the computational cost.

Key words: hybrid system, collision avoidance, active safety control, mode switching, trajectory tracking