Vehicle motion control for integrated risk management of automated vehicle

This paper describes an approach to vehicle motion control algorithm for application of an automated vehicle. A full recognition of environment is achieved by data fusion and data interpretation based on the dynamic measurements from the environmental sensors such as radar and vision. The recognition of environment is transformed into an artificial risk potential representation, which is collision probability. In order to guarantee lateral stability in the high speed maneuver, constraints of the vehicle motion based on vehicle dynamics have been considered. Probabilistic predictions of surrounding vehicles are included into the risk potential function for represent the predicted collision risk based on the estimated motion of the subject vehicle and the surrounding vehicles. The potential field interpretation has been proposed to represent the risk potential to the surrounding vehicles based on the predicted motion of the vehicles. The proposed motion control algorithm has been investigated via closed-loop simulation.

• Record URL:
  http://publications.lib.chalmers.se/records/fulltext/222422/local_222422.pdf
• 
• Corporate Authors:

  Chalmers University of Technology. SAFER Vehicle and Traffic Safety Centre

  ,    
• Authors:
  • Kim, Kyuwon
  • Kim, Beomjun
  • Lee, Kyoungjun
  • Chong, Hyokjin
  • Ko, Bongchul
  • Yi, Kyongsu
• Conference:
  • FAST-zero'15: 3rd International Symposium on Future Active Safety Technology Toward zero traffic accidents, 2015
  • Location: Gothenburg , Sweden
  • Date: 2015-9-9 to 2015-9-11
• Publication Date: 2015

Language

• English

Media Info

• Pagination: pp 229-234
• Monograph Title: FAST-zero'15: 3rd international symposium on future active safety technology toward zero traffic accidents: September 9-11, 2015 Gothenburg, Sweden: proceedings

Subject/Index Terms

• TRT Terms: Automation; Driving; Mathematical models; Simulation; Steering; Vehicles
• ITRD Terms: 3882: Automation; 1855: Driving (veh); 6473: Mathematical model; 9103: Simulation; 1834: Steering (process); 1255: Vehicle
• Subject Areas: Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01602289
• Record Type: Publication
• Source Agency: Swedish National Road and Transport Research Institute (VTI)
• Files: ITRD, VTI
• Created Date: Jun 20 2016 1:27PM