Anticollision system PRORETA with automatic braking and steering

Isermann, Rolf; Schorn, Matthias; Stählin, Ulrich

doi:10.1080/00423110802036968

Cited by 59 publications

(26 citation statements)

References 3 publications

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“…To evaluate EDS control algorithm, driver model, MDPS model, sensor model are used for simulation. The closed loop driver model determines the steering torque required following the desired path [13]. The sensor model is designed to return preceding vehicle's longitudinal and lateral position, velocity and width when the preceding vehicle is in the detecting area of sensor.…”

Section: Evasion Yaw Rate Controlmentioning

confidence: 99%

Emergency driving support algorithm with steering torque overlay and differential braking

Choi

Kim

2011

2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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This paper presents an emergency driving support (EDS) algorithm which supports the driver to avoid collision using motor driven power steering (MDPS) and electronic stability control (ESC). If driver tries to avoid rear-end collision using steering input, the EDS system is activated and supports the driver to have appropriate steering angle and controls the ESC if vehicle needs large yaw rate. The EDS algorithm consists of 4 parts: risk monitoring, driver monitoring, decision and control. In risk monitoring process, risk index is derived using information of preceding vehicle. In driver monitoring process, driver's intention in emergency situation is estimated. In decision process, from the derived indices, the control policies are determined. Finally, in control process, the control inputs of actuators are determined. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink.

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Section: Evasion Yaw Rate Controlmentioning

confidence: 99%

Emergency driving support algorithm with steering torque overlay and differential braking

Choi

Kim

2011

2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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“…In terms of emergency situations, almost all the vehicle manufacturers are developing crash avoidance systems with both braking and swerving authority (e.g. Isermann et al (2008); InteractIVe project), while very high automation of continuous vehicle control is soon to be on offer (e.g. Cadillac Supercruise).…”

Section: Automation Expanding Into New Domainsmentioning

confidence: 99%

Is there still a need for CTW?

2014

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“…Optimal vehicle trajectory control for obstacle avoidance within shortest distance is presented in [30]. The Proreta Project [31] evaluated driver assistance systems that initiate automatic braking when an object vehicle cuts into the ego vehicle's lane and automatic steering when an object vehicle is standing in front of the ego vehicle and the driver does not react. Other systems that performed automated steering have been demonstrated at the DARPA Urban Challenge [32].…”

Section: Previous Workmentioning

confidence: 99%

Active Pedestrian Safety by Automatic Braking and Evasive Steering

Keller

Dang

Fritz

et al. 2011

IEEE Trans. Intell. Transport. Syst.

178

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Abstract-Active safety systems hold great potential to reduce the accident frequency and severity, by warning the driver and/or exerting automatic vehicle control ahead of crashes. This paper presents a novel active pedestrian safety system, which combines sensing, situation analysis, decision making and vehicle control. The sensing component is based on stereo vision; it fuses two complementary approaches for added robustness: motion-based object detection and pedestrian recognition. The highlight of the system is the ability to decide within a split second whether to perform automatic braking or evasive steering, and to execute this maneuver reliably, at relatively high vehicle speeds (up to 50 km/h).We performed extensive pre-crash experiments with the system on the test track (22 scenarios with real pedestrians and a dummy). We obtained a significant benefit in detection performance and improved lateral velocity estimation by the fusion of motion-based object detection and pedestrian recognition. On a fully reproducible scenario subset, involving the dummy entering laterally into the vehicle path from behind an occlusion, the system executed in over 40 trials the intended vehicle action: automatic braking (if a full stop is still possible) or else, automatic evasive steering.

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Anticollision system PRORETA with automatic braking and steering

Cited by 59 publications

References 3 publications

Emergency driving support algorithm with steering torque overlay and differential braking

Emergency driving support algorithm with steering torque overlay and differential braking

Is there still a need for CTW?

Active Pedestrian Safety by Automatic Braking and Evasive Steering

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