Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

Abstract

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

Policy and society related implications of automated driving: A review of literature and directions for future research

“…These systems include collision avoidance (see e.g. Hayashi, Isogai, Raksincharoensak, & Nagai, 2012;Li, Juang, & Lin, 2014;Shim, Adireddy, & Yuan, 2012;Naranjo, Jiménez, Anaya, Talavera, & Gómez, 2016), lane keeping (see e.g. Lee, Choi, Yi, Shin, & Ko, 2014) and lane change assistance (see e.g.…”

Issues and challenges for pedestrian active safety systems based on real world accidents

“…Furthermore, drivers' behavior and driving situation in a bend are additional constraints that can cancel the steering maneuver. Moreover, if a front-end collision can be avoided by steering, it can possibly lead to a side collision when the pedestrian keeps moving (Hayashi et al, 2012).…”

“…These measures may include autonomous emergency braking or autonomous steering (e.g. Broggi et al, 2009;Hayashi et al, 2012;Keller et al, 2011a).…”

Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

“…This error could be solved by an autonomous steering system. On the other hand, an autonomous steering system has not been put into practice as it is still in research & development phase [15]. Many control strategies of an autonomous steering system have been developed over a long time such as MacAdam's model in [16], Sharp's model in [17], Salvucci's model in [18], Gordon's model in [19], and Ryu's model in [20].…”

“…Although a single steering manoeuvre could avoid a possible collision, it could be the second choice because of the lack of experience of the drivers for applying high lateral accelerations [9,12]. Therefore, one of the most important decision error occurs, which also depends on a delayed recognition by the drivers [13][14][15]. This error could be solved by an autonomous steering system.…”