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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/11554

Title: Optimisation of high-speed crash avoidance in autonomous vehicles
Authors: Best, Matt C.
Keywords: Vehicle handling dynamics
Obstacle avoidance
Vehicle design
Autonomous vehicle
Issue Date: 2012
Publisher: © Inderscience
Citation: BEST, M.C., 2012. Optimisation of high-speed crash avoidance in autonomous vehicles. International Journal of Vehicle Autonomous Systems, 10 (4), pp. 337 - 354.
Abstract: In the context of a future scenario of autonomous vehicle platooning, this paper considers the optimisation of a vehicle's standard brake, acceleration and steering control inputs, for collision avoidance. We consider the case where escape into the neighbouring lane is feasible. An iterative simulation-based method is used, which allows vehicle parameters to be optimised simultaneously; this also allows us to find the best vehicle handling balance for such a manoeuvre and to quantify the cost of suboptimal design. The paper also considers the relative advantages of speed reduction in conjunction with rapid lane change. The goal here is to quantify the best possible vehicle escape manoeuvre and the relative cost of alternative strategies. The paper does not provide an immediately practicable controller, but simple open-loop approximation of the optimal controls suggests a route towards future real-time solution.
Description: This article was published in the journal, International Journal of Vehicle Autonomous Systems [© Inderscience] and the definitive version is available at: http://dx.doi.org/10.1504/IJVAS.2012.051269
Version: Accepted for publication
DOI: 10.1504/IJVAS.2012.051269
URI: https://dspace.lboro.ac.uk/2134/11554
Publisher Link: http://dx.doi.org/10.1504/IJVAS.2012.051269
ISSN: 1471-0226
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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