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Active rear-end collision avoidance using electric power steering system
journal contribution
posted on 2015-04-24, 13:38 authored by Jitendra Shah, Matt BestMatt Best, Ahmed Benmimoun, Mohsen Lakehal AyatA 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.
Funding
This work was supported by the European Commission DG Connect in the Seventh Framework Programme, Information and Communications Technologies for Safety and Energy Efficiency in Mobility (grant number 246587).
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
Proceedings of the Institution of Mechanical Engineers, Part D (Journal of Automobile Engineering)Volume
1Issue
1Pages
1 - 18 (18)Citation
SHAH, J. ... et al., 2015. Active rear-end collision avoidance using electric power steering system. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 229(12), pp.1638-1655.Publisher
© IMechEVersion
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2015Notes
Closed accessISSN
0954-4070Publisher version
Language
- en