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Integrated collision avoidance by active intervention of brake and steer for intelligent vehicles
conference contribution
posted on 2015-04-27, 12:22 authored by Jitendra Shah, Roland Schaefer, Matt BestMatt BestA considerable proportion of road accidents are attributed to rear-end collision, lane change collisions and run off road events. An integrated design of information, warning and intervention system might help to reduce these types of accidents. Such an integrated approach will assist the driver in avoiding collisions in a systematic and structured way. This paper presents an approach how rear end-, lane change- and run off road-collisions can potentially be prevented and explains the required architecture and control concept. A common higher order polynomial based path planner is proposed due to its inherent advantage of stability and convergence over dynamic trajectories during the limited duration of the pre collision phase. The path following capability is improved by combining braking and steering intervention using a gain scheduled linear PID controller. A safety shield concept for HMI has been implemented based on performance of production feasible available sensors in order to improve the perception around the vehicle.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
35th FISITA International CongressVolume
1Issue
1Pages
1 - 8 (8)Citation
SHAH, J., SCHAEFER, R. and BEST, M.C., 2014. Integrated collision avoidance by active intervention of brake and steer for intelligent vehicles. Presented at: FISITA 2014 World Automotive Congress, 2nd-6th June 2014, Maastricht, Netherlands.Publisher
FISITA (the International Federation of Automotive Engineering Societies).Version
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2014Notes
This conference paper is closed access.Publisher version
Language
- en