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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/17359

Title: Active rear-end collision avoidance using electric power steering system
Authors: Shah, Jitendra
Best, Matt C.
Benmimoun, Ahmed
Lakehal Ayat, Mohsen
Keywords: Collision avoidance
Vehicle control
Path planning
Threat assessment
Autonomous vehicle
Issue Date: 2015
Publisher: © IMechE
Citation: SHAH, J. ... et al., 2015. Active rear-end collision avoidance using electric power steering system. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 229(12), pp.1638-1655.
Abstract: A step towards fully autonomous vehicles can be achieved by autonomous collision avoidance. This paper presents the development and implementation of a rear-end collision avoidance system which consists of novel linear threat assessment, projected escape path planning with non-zero initial condition, reference generation and linear path control by an electric steering actuator using dynamic inversion. The linear threat assessment continuously calculates threat metrics associated with collision avoidance by either steering or braking. The escape path planner continuously estimates a path with constraints on the peak lateral acceleration and the required lateral deviation. The reference generator then estimates the states for avoidance according to the available friction. Linear state feedback control is applied for path following to avoid a collision in both straight-road scenarios and curved-road scenarios. The proposed approach is evaluated in simulations, and in practice on a C-segment Ford vehicle. A user-related assessment about the usefulness and satisfaction is included to conclude the paper.
Description: Closed access
Sponsor: This work was supported by the European Commission DG Connect in the Seventh Framework Programme, Information and Communications Technologies for Safety and Energy Efficiency in Mobility (grant number 246587).
Version: Published
DOI: 10.1177/0954407014567517
URI: https://dspace.lboro.ac.uk/2134/17359
Publisher Link: http://dx.doi.org/10.1177/0954407014567517
ISSN: 0954-4070
Appears in Collections:Closed Access (Aeronautical and Automotive Engineering)

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