Active rear-end collision avoidance using electric power steering system
Jitendra Shah
Matt Best
Ahmed Benmimoun
Mohsen Lakehal Ayat
2134/17359
https://repository.lboro.ac.uk/articles/journal_contribution/Active_rear-end_collision_avoidance_using_electric_power_steering_system/9228830
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.
2015-04-24 13:38:36
Collision avoidance
Vehicle control
Path planning
Threat assessment
Autonomous vehicle
Mechanical Engineering
Engineering not elsewhere classified