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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/17369

Title: Integrated collision avoidance by active intervention of brake and steer for intelligent vehicles
Authors: Shah, Jitendra
Schaefer, Roland
Best, Matt C.
Keywords: Collision avoidance
Path planning
Side impact
Run off road
Active safety
Issue Date: 2014
Publisher: FISITA (the International Federation of Automotive Engineering Societies).
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.
Abstract: A 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.
Description: This conference paper is closed access.
Version: Published
URI: https://dspace.lboro.ac.uk/2134/17369
Publisher Link: http://www.fisita.com/publications/bookstore?id=492
Appears in Collections:Closed Access (Aeronautical and Automotive Engineering)

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