Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.


  • English

Media Info

  • Media Type: Print
  • Features: Figures; Photos; References; Tables;
  • Pagination: pp 151-168
  • Monograph Title: Selected and Extended Papers from the 22nd Symposium of the International Association for Vehicle System Dynamics
  • Serial:
    • Vehicle System Dynamics
    • Volume: 50
    • Issue Number: sup1
    • Publisher: Taylor & Francis
    • ISSN: 0042-3114
    • EISSN: 1744-5159

Subject/Index Terms

Filing Info

  • Accession Number: 01489470
  • Record Type: Publication
  • ISBN: 9780415658690
  • Files: TRIS
  • Created Date: Jul 10 2013 1:06PM