Citation for the published paper: Arikere, A. ; Yang, D. ; Klomp, M. et al. (2018) "Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles". Vehicle System Dynamics pp. 1-27. http://dx.doi.org/10. 1080/00423114.2017.1423091 Downloaded from: http://publications.lib.chalmers.se/publication/254461 Notice: Changes introduced as a result of publishing processes such as copy-editing and formatting may not be reflected in this document. For a definitive version of this work, please refer to the published source. Please note that access to the published version might require a subscription.Chalmers Publication Library (CPL) offers the possibility of retrieving research publications produced at Chalmers University of Technology. It covers all types of publications: articles, dissertations, licentiate theses, masters theses, conference papers, reports etc. Since 2006 it is the official tool for Chalmers official publication statistics. To ensure that Chalmers research results are disseminated as widely as possible, an Open Access Policy has been adopted. The CPL service is administrated and maintained by Chalmers Library.(article starts on next page) AcknowledgementsThe authors would like to gratefully acknowledge the contributions of Bengt Jacobson (Chalmers), Gunnar Olsson (ÅF), Rickard Nilsson (Volvo Cars) and Torbjörn Norlander (NEVS) towards this project and paper. We would also like to thank Volvo Cars for providing the test vehicle, measurement equipment, test track time and the simulation model for use in this project. Additionally, the support of Vector, IPG and Tomlab in providing educational licenses for the measurement, simulation and optimal control software respectively is gratefully acknowledged. Finally, we would like to acknowledge the support of our project partner American Axle and Manufacturing (AAM). FundingWe would like to thank Vinnova of the Fordonsstrategisk Forskning och Innovation (FFI), Traffic Safety and Automated Vehicles programme for providing the funding for this project (grant no. 2015-04812). * Corresponding author 1 anuary 5, 2018Vehicle System Dynamics paper_v2.9Development and deployment of steering based collision avoidance systems are made difficult due to the complexity of dealing with oncoming vehicles during the evasive manoeuvre. A method to mitigate the collision risk with oncoming vehicles during such manoeuvres is presented in this work. A point mass analysis of such a scenario is first done to determine the importance of speed for mitigating the collision risk with the oncoming vehicle. A characteristic parameter was identified, which correlates well with the need to increase or decrease speed, in order to reduce the collision risk. This finding was then verified in experiments using a Volvo XC90 test vehicle. A closed-loop longitudinal acceleration controller for collision mitigation with oncoming vehicles is then presented. The longitudinal control is combined with yaw stability control using control allocation to form an integrated contro...

Vehicle System Dynamics paperV5 Collision avoidance at intersections involving a host vehicle turning left across the path of an oncoming vehicle (Left Turn Across Path/Opposite Direction or LTAP/OD) have been studied in the past, but mostly using simplified interventions and rarely considering the possibility of crossing the intersection ahead of a bullet vehicle. Such a scenario where the driver preference is to avoid a collision by crossing the intersection ahead of a bullet vehicle is considered in this work. The optimal vehicle motion for collision avoidance in this scenario is determined analytically using a particle model within an optimal control framework. The optimal manoeuvres are then verified through numerical optimisations using a two-track vehicle model, where it was seen that the wheel forces followed the analytical global force angle result independently of the other wheels. A Modified Hamiltonian Algorithm (MHA) controller for collision avoidance that uses the analytical optimal control solution is then implemented and tested in CarMaker simulations using a validated Volvo XC90 vehicle model. Simulation results showed that collision risk can be significantly reduced in this scenario using the proposed controller, and that more benefit can be expected in scenarios that require larger speed changes.

No abstract