Car collision avoidance with velocity obstacle approach: Evaluation of the reliability and performace of the collision avoidance maneuver

Abstract

The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity obstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios.

Safe and Secure Control of Swarms of Vehicles by Small-World Theory

“…Figure 6. The subplot on (top) shows the velocity of the first 7 vehicles that follows the leader, which is subjected to the harmonic perturbation defined in Equation (14). Using the same symbols, the subplot on the (bottom) shows the relative distance between a vehicle and the one ahead.…”

“…Energies 2020, 13, 1043 14 of 28 Figure 11. The small-world model simulated with 500 vehicles and with p = 0.05, excited by the harmonic perturbation of the Leader's velocity Equation (14). On (top), the velocity of each vehicle that follows the leader, on the (bottom), the velocity of the leader and the one of the barycenter of the system of 500 vehicles, plotted versus time.…”

“…velocity Figure 15. The small-world model simulated with b = 20 m and excited by the harmonic perturbation of the Leader's velocity Equation (14); symbolism is the same in Figure 11. 14; symbolism is the same in Figure 11.…”

“…The greater ability of the small-world model to spread the leader's information gives to the platoon the ability to follow the leader's input way better than the standard model as shown in Figure 19; Figure 20. Figure 19 shows the comparison between the Barycenter's velocity for the standard and the small world models, subjected to the sinusoidal perturbation of the leader stated in Equation (14). For the standard model, the barycenter's velocity remains almost constant and does not highlight the harmonic perturbation imparted by the leader.…”

“…This second element requires the collective behavior of the traffic is robust with respect to the insertion or removal of connections [4,9]. Both the safety and security needs represent big challenges [4,10,[13][14][15] in the autonomous vehicle technology development, and government and regulatory institutions, as well as large private companies, have these actions in their strategic agenda.…”