Autonomous Wary Collision Avoidance

Abstract

Handling of critical situations is an important part in the architecture of an autonomous vehicle. A controller for autonomous collision avoidance is developed based on a wary strategy that assumes the least tire-road friction for which the maneuver is still feasible. Should the friction be greater, the controller makes use of this and performs better. The controller uses an acceleration-vector reference obtained from optimal control of a friction-limited particle, whose applicability is verified by using numerical optimization on a full vehicle model. By employing an analytical tire model of the tire-road friction limit, to determine slip references for steering and body-slip control, the result is a controller where the computation of its output is explicit and independent of the actual tire-road friction. When evaluated in real-time on a high-fidelity simulation model, the developed controller performs close to that achieved by offline numerical optimization.

Design and Implementation of a Car’s Black Box System using Arduino

“…Another pin was kept for the ultimate purpose of impending and is unrelated. Even though these sheets can comply with the most recent safeguards, which require these extra pins, they are compatible with all present safeguards [17].…”

“…The device also offers other capabilities such as speed control, tilt adjustment, and alcohol detection. The objective of the project is to enhance the user's sense of security when on the car's roof and aid in determining the exact reason of the accident [16,17]. The novelty of this Car's Black Box System (BBS) stems from its use of Arduino technology, which offers a flexible and cost-efficient framework for extensive data collection and examination within the automotive domain.…”

Autonomous Avoidance Maneuvers for Vehicles using Optimization

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