Collision avoidance systems PRORETA: situation analysis and intervention control

Isermann, Rolf; Mannale, Roman; Schmitt, Ken

doi:10.3182/20100712-3-de-2013.00202

Cited by 14 publications

(2 citation statements)

References 3 publications

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“…After determining the collision free path, an automated robust path following control system was used to follow the calculated path. Isermann et al 9 considered two vehicles moving in the same direction. The other vehicle was detected by a fusion of LIDAR and camera data providing the system with relative speeds, distance, and locations.…”

Section: Literature Reviewmentioning

confidence: 99%

An ultrasonic sensor based automatic braking system to mitigate driving exhaustion during traffic congestion

Arsalan

Akbar

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Traffic congestion has been the most tiresome encounter since the initiation of vehicle advancement. Many braking systems have been designed by researchers in previous studies, but this study is primarily focused on a braking system that is affordable to all because it is based on a simple Arduino-controlled system. Moreover, it is assistive on everyday traffic commutes rather than highway driving, which is relatively rare for normal drivers. As more and more vehicles crowd the roads, the more problematic it is becoming for the drivers, which is ultimately leading toward increment in the frontal car accidents. In this study, an electro-mechanical braking system has been deployed that assists the driver during the jam-packs by measuring the exact distance between the driven and forthcoming vehicle or any obstacle by applying the brakes without the driver pressing the brake pedal to ultimately bring the vehicle to a halt without any fear of vehicle collision. An ultrasonic sensor is used at the front bumper grille that measures the distance between the two closing vehicles. The total time to halt the vehicle has been calculated as 0.6 s, while the critical distance for the sensor has been set as 1-m. Furthermore, the stepper motor drivers are set at the maximum current output of 2.5 amps with a 12-volt battery connected in parallel to the motors. It is found that theoretical stopping time is in good agreement with the experimental stopping time to completely press the brake pedal and halt the car.

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Section: Literature Reviewmentioning

confidence: 99%

An ultrasonic sensor based automatic braking system to mitigate driving exhaustion during traffic congestion

Arsalan

Akbar

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…HE use of Active Front Steering (AFS) technology [1] for assisting drivers in obstacle avoidance [2], [3] tended to increase the degree of complexity of the interaction between driver and vehicle. Since AFS technology allows a steering angle to be applied to vehicle road wheels independent of driver steering wheel angle, there is the possibility that the driver and the vehicle AFS controller compete for control, especially when the two hold different objectives.…”

Section: Introductionmentioning

confidence: 99%

Application of Open-Loop Stackelberg Equilibrium to Modeling a Driver's Interaction with Vehicle Active Steering Control in Obstacle Avoidance

Cole

2017

IEEE Trans. Human-Mach. Syst.

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The increasing use of Active Front Steering (AFS) technology for obstacle avoidance raises the question of drivers' interaction with vehicle automation. Mathematical models capable of representing such interaction are in demand for driver behaviour study. This paper presents the application of open-loop Stackelberg equilibrium to modelling a driver's interaction with vehicle AFS control in an obstacle avoidance scenario, where both the driver and the AFS controller are exerting steering control to the vehicle. In this paper, such driver-AFS interactive steering control is modelled as a leader-follower game. Mathematical expressions of the driver's and the AFS controller's steering control strategies are derived using the Linear Quadratic Dynamic Optimization (LQDO) approach and the Distributed Model Predictive Control (DMPC) approach. These two approaches are found to give identical control gains, which suggests their equivalence in representing driver-AFS interaction. The DMPC approach is found to consume far less computation time due to its numerical nature. Mathematical modifications to the steering control strategies are then introduced to allow practical implementation for a future experimental study. Simulation results including time histories of steering angles and vehicle responses are illustrated and discussed. Index Terms-Driver, Vehicle, Active Front Steering (AFS), Modelling, Game Theory > REPLACE THIS LINE WITH YOUR PAPER IDENTIFICATION NUMBER (DOUBLE-CLICK HERE TO EDIT) <

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Collision avoidance with combined braking and steering

2015

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Collision avoidance systems PRORETA: situation analysis and intervention control

Cited by 14 publications

References 3 publications

An ultrasonic sensor based automatic braking system to mitigate driving exhaustion during traffic congestion

An ultrasonic sensor based automatic braking system to mitigate driving exhaustion during traffic congestion

Application of Open-Loop Stackelberg Equilibrium to Modeling a Driver's Interaction with Vehicle Active Steering Control in Obstacle Avoidance

Collision avoidance with combined braking and steering

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