Estimation of lateral offset and drift angle for application in secondary collision avoidance system
Recent reports show that the secondary collision on the road gives much higher fatality rate than the other traffic accidents. Many studies have been carried out to prevent the secondary accidents and as a result automotive companies began to introduce brake-based secondary collision avoidance systems. To prevent the secondary accidents it is important to monitor and control the lateral deviation of the vehicle after the primary collision. An estimator for the vehicle’s lateral offset and drift angle based on the in-vehicle sensors and the camera was developed in this paper. By employing sensor fusion scheme and applying extended Kalman filter, the estimator has been designed so that it works even when the camera loses the image of the lanes due to sudden change of the vehicle’s heading angle. For validation of the estimator, simulation has been carried out on various collision scenarios. The simulation results indicated that the estimator of this paper could calculate the vehicle’s lateral deviation with robustness that may be required for application in the secondary collision avoidance systems.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/12299138
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Supplemental Notes:
- Copyright © 2016, The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg.
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Authors:
- Kim, D
- Kang, T
- Soh, M
- Kwon, J
- Hwang, T
- Hwang, J P
- Jeong, K
- Park, Kwanoo
- Publication Date: 2017-2
Language
- English
Media Info
- Media Type: Web
- Features: References;
- Pagination: pp 137-146
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Serial:
- International Journal of Automotive Technology
- Volume: 18
- Issue Number: 1
- Publisher: Korean Society of Automotive Engineers
- ISSN: 1229-9138
- EISSN: 1976-3832
- Serial URL: http://link.springer.com/journal/12239
Subject/Index Terms
- TRT Terms: Automatic steering control; Crash avoidance systems; Data fusion; Estimation theory; Kalman filtering; Trajectory
- Uncontrolled Terms: Drift trajectories
- Subject Areas: Data and Information Technology; Highways; Safety and Human Factors; Vehicles and Equipment;
Filing Info
- Accession Number: 01613688
- Record Type: Publication
- Files: TRIS
- Created Date: Oct 21 2016 4:32PM