Toward Autonomous Collision Avoidance by Steering

Eidehall, Andreas; Pohl, Jochen; Gustafsson, Fredrik; Ekmark, Jonas

doi:10.1109/tits.2006.888606

Cited by 98 publications

(46 citation statements)

References 16 publications

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“…The research project by Eidehall et al (2007) resulted in a method to evaluate active safety functions as well as a new function, Emergency Lane Assist, ELA. The problem mentioned with lane keeping assist functions is to separate intended lane changes and dangerous situations.…”

Section: On Electrohydraulic Pressure Control For Power Steering Applmentioning

confidence: 99%

“…Ackermann, Bünte, and D. Odenthal (1999)) and the system can intervene to avoid a collision with an oncoming vehicle or keep the car on the road. Typical functions are Emergency Lane Assist (Eidehall et al (2007)), collision avoidance systems (Schorn et al (2006)), roll-over prevention and vehicle stabilisation (Koehn and Eckrich (2004)). The future will also see road vehicles evolve into autonomous vehicles, with several safety, environmental and financial benefits.…”

Section: Introductionmentioning

confidence: 99%

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On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. These are functions that aim at assisting the driver in more or less critical situations and could be anything from applying a guiding steering torque to taking over the steering completely. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. This refers to the possibility to control the steering angle or steering torque with an electronic signal.The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through an open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. The system provides a robust solution but suffers from poor energy efficiency and lacks the possibility of active control. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on.In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control, the most common control strategy in power steering systems, and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Detailed models at both a component level and a system level are developed and form the basis of the analysis and control design. Another important tool is hardware-in-the-loop simulation. A test rig of the system, that also includes the original system, is developed. The rig supports the modelling and validation process, as it also makes it possible to verify control concepts on a real system. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has i on a system level. As it turns out, the valves add a great deal of phase shift and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the phase shift is much less critical.Keywords: Electrohydraulic power steering, pressure control, closed-centre steering, Boost curve control, autonomous driving, hardware-...

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Section: On Electrohydraulic Pressure Control For Power Steering Applmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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“…Most of these works have led researchers to design or simulate the system as a next step. We have a automotive safety function called emergency lane assist [7], a strategy on vehicular velocity controlling to meet both the demands of collision avoidance and best following performance which aims to guarantee traffic safety and improve the transportation efficiency [2]. Hillenbrand et al [11] investigate the performance of a practical, uncooperative collision migration system, capable of handling cross traffic on variety of intersection like situations.…”

Section: Literature Reviewmentioning

confidence: 99%

Enhancing Highway Traffic Safety Through Intelligent Car

Dutta¹,

Singh²,

Singh³

2012

IJDPS

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Abstract:The transportation domain has already moved towards intravehicle intelligent spaces. In this paper, we will use various wireless technologies for traffic safety. This safety will be provided by developing a model for intelligent transportation system applications using emerging wireless communication technology in emergency situations. The performance analysis of the proposed model will be carried out. The experimental results will be also demonstrated. In this paper, we also propose some improvements in infrastructure of highway for better traffic control and safety.

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“…A robust vehicle tracking module is a powerful base block to elaborate further systems, such as traffic merging [31], cruise control [12], lane change [28], collision avoidance [7] or vehicle platooning [1]. Real-world driving scenarios are complex and very dynamic on their own.…”

Section: Introductionmentioning

confidence: 99%

Low Resolution Lidar-Based Multi-Object Tracking for Driving Applications

Pino

Vaquero

Masini

et al. 2017

ROBOT 2017: Third Iberian Robotics Conference

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Abstract. Vehicle detection and tracking in real scenarios are key components to develop assisted and autonomous driving systems. Lidar sensors are specially suitable for this task, as they bring robustness to harsh weather conditions while providing accurate spatial information. However, the resolution provided by point cloud data is very scarce in comparison to camera images. In this work we explore the possibilities of Deep Learning (DL) methodologies applied to low resolution 3D lidar sensors such as the Velodyne VLP-16 (PUCK), in the context of vehicle detection and tracking. For this purpose we developed a lidar-based system that uses a Convolutional Neural Network (CNN), to perform pointwise vehicle detection using PUCK data, and Multi-Hypothesis Extended Kalman Filters (MH-EKF), to estimate the actual position and velocities of the detected vehicles. Comparative studies between the proposed lower resolution (VLP-16) tracking system and a high-end system, using Velodyne HDL-64, were carried out on the Kitti Tracking Benchmark dataset. Moreover, to analyze the influence of the CNN-based vehicle detection approach, comparisons were also performed with respect to the geometric-only detector. The results demonstrate that the proposed low resolution Deep Learning architecture is able to successfully accomplish the vehicle detection task, outperforming the geometric baseline approach. Moreover, it has been observed that our system achieves a similar tracking performance to the high-end HDL-64 sensor at close range. On the other hand, at long range, detection is limited to half the distance of the higher-end sensor.

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Toward Autonomous Collision Avoidance by Steering

Cited by 98 publications

References 16 publications

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Enhancing Highway Traffic Safety Through Intelligent Car

Low Resolution Lidar-Based Multi-Object Tracking for Driving Applications

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