2015
DOI: 10.1177/0954407014567517
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Autonomous rear-end collision avoidance using an electric power steering system

Abstract: 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 eit… Show more

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Cited by 29 publications
(12 citation statements)
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“…Tese disengagements were mainly because of operator precautions, or because the ADS detected reckless behavior by other road users but did not provide sufcient reaction time for drivers to respond. In addition, some studies have designed linear path control and emergency steering assist (ESA) control to avoid rear-end collisions [24,38]. Raju et al [60] proposed a safety measure of instantaneous attention time (IHT) that quantifes the follower driver's attentiveness.…”
Section: Ads Safety-related Workmentioning
confidence: 99%
“…Tese disengagements were mainly because of operator precautions, or because the ADS detected reckless behavior by other road users but did not provide sufcient reaction time for drivers to respond. In addition, some studies have designed linear path control and emergency steering assist (ESA) control to avoid rear-end collisions [24,38]. Raju et al [60] proposed a safety measure of instantaneous attention time (IHT) that quantifes the follower driver's attentiveness.…”
Section: Ads Safety-related Workmentioning
confidence: 99%
“…A fifth-order polynomial has been used to represent a lane change path (Shah et al, 2015). The length of the lane change maneuver Lxp is given by Weber (2012) as…”
Section: Polynomialmentioning
confidence: 99%
“…e MPC method is used to realize the local trajectory planning and trajectory tracking during the collision avoidance process of the autonomous driving vehicle, which ensures the stability and safety of the autonomous vehicle during the collision avoidance process [4]. e Ford Motor Technology Research Center in the United States designed a linear state feedback controller and used the electric power steering system to realize the avoidance path tracking control of autonomous vehicles [5].…”
Section: Introductionmentioning
confidence: 99%