Collision avoidance manoeuvre for a vehicle — a practical approach

Abstract This paper presents a practical real-time control approach to generate a suboptimal collision avoidance manoeuvre for vehicles. This manoeuvre tries to divert the vehicle away from an obstacle when the distance to the obstacle is too short for braking. During the course the vehicle follows...

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Published in:Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Journal of automobile engineering, 2010-03, Vol.224 (3), p.299-312
Main Authors: Su, J-L, Ordys, A W
Format: Article
Language:English
Subjects:
Accident prevention
Automobiles
Automotive engineering
Braking
Braking systems
Collision avoidance
Collision dynamics
Collisions
Computer simulation
Mathematical analysis
Real time
Trajectories
Trajectory analysis
Vehicles
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cited_by cdi_FETCH-LOGICAL-c371t-4f0406ee894d7b0eef376005f9284dd13c9623b398c4838aa9b1912d299067b13
cites cdi_FETCH-LOGICAL-c371t-4f0406ee894d7b0eef376005f9284dd13c9623b398c4838aa9b1912d299067b13
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container_title Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering
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creator Su, J-L
Ordys, A W
description Abstract This paper presents a practical real-time control approach to generate a suboptimal collision avoidance manoeuvre for vehicles. This manoeuvre tries to divert the vehicle away from an obstacle when the distance to the obstacle is too short for braking. During the course the vehicle follows a suboptimal trajectory which introduces a small lateral movement and a change in the travel direction. The trajectory is obtained analytically with a simplified dynamic model, whose nominal control input is thereafter defined along the trajectory. The actual control inputs for the vehicle are determined from this nominal input based on the bicycle model. Simulation with a verified full-car model shows satisfactory results, in which collision is avoided when the initial distance between the vehicle and obstacle is shorter than the shortest braking distance.
doi_str_mv 10.1243/09544070JAUTO1264
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subjects Accident prevention
Automobiles
Automotive engineering
Braking
Braking systems
Collision avoidance
Collision dynamics
Collisions
Computer simulation
Mathematical analysis
Real time
Trajectories
Trajectory analysis
Vehicles
title Collision avoidance manoeuvre for a vehicle — a practical approach
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