Active rear-end collision avoidance using electric power steering system

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...

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Main Authors: Jitendra Shah, Matt Best, Ahmed Benmimoun, Mohsen Lakehal Ayat
Format: Default Article
Published: 2015
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Online Access:https://hdl.handle.net/2134/17359
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id rr-article-9228830
record_format Figshare
spelling rr-article-92288302015-01-01T00:00:00Z Active rear-end collision avoidance using electric power steering system Jitendra Shah (7123346) Matt Best (1251441) Ahmed Benmimoun (7123349) Mohsen Lakehal Ayat (7123352) Mechanical engineering not elsewhere classified Other engineering not elsewhere classified Collision avoidance Vehicle control Path planning Threat assessment Autonomous vehicle Mechanical Engineering Engineering not elsewhere classified 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. 2015-01-01T00:00:00Z Text Journal contribution 2134/17359 https://figshare.com/articles/journal_contribution/Active_rear-end_collision_avoidance_using_electric_power_steering_system/9228830 CC BY-NC-ND 4.0
institution Loughborough University
collection Figshare
topic Mechanical engineering not elsewhere classified
Other engineering not elsewhere classified
Collision avoidance
Vehicle control
Path planning
Threat assessment
Autonomous vehicle
Mechanical Engineering
Engineering not elsewhere classified
spellingShingle Mechanical engineering not elsewhere classified
Other engineering not elsewhere classified
Collision avoidance
Vehicle control
Path planning
Threat assessment
Autonomous vehicle
Mechanical Engineering
Engineering not elsewhere classified
Jitendra Shah
Matt Best
Ahmed Benmimoun
Mohsen Lakehal Ayat
Active rear-end collision avoidance using electric power steering system
description 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.
format Default
Article
author Jitendra Shah
Matt Best
Ahmed Benmimoun
Mohsen Lakehal Ayat
author_facet Jitendra Shah
Matt Best
Ahmed Benmimoun
Mohsen Lakehal Ayat
author_sort Jitendra Shah (7123346)
title Active rear-end collision avoidance using electric power steering system
title_short Active rear-end collision avoidance using electric power steering system
title_full Active rear-end collision avoidance using electric power steering system
title_fullStr Active rear-end collision avoidance using electric power steering system
title_full_unstemmed Active rear-end collision avoidance using electric power steering system
title_sort active rear-end collision avoidance using electric power steering system
publishDate 2015
url https://hdl.handle.net/2134/17359
_version_ 1792396176320888832