2012年
Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory
VEHICLE SYSTEM DYNAMICS
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- 巻
- 50
- 号
- Supp. 1
- 開始ページ
- 151
- 終了ページ
- 168
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1080/00423114.2012.672748
- 出版者・発行元
- TAYLOR & FRANCIS LTD
This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.
- リンク情報
- ID情報
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- DOI : 10.1080/00423114.2012.672748
- ISSN : 0042-3114
- Web of Science ID : WOS:000306605100010