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A path planning algorithm is proposed for emergency steering maneuvers on highway roads. A geometric approach is used to generate a graph which is searched to find an optimal path based on a customized cost function. We ensure that the resulted path will be within road boundaries, collision-free and feasible with respect to all kinematic and dynamic constraints of the host vehicle and the surrounding...
The paper summarizes the development of an optimal braking and steering control for collision avoidance maneuver. The goal is to minimize the distance to the target vehicle ahead of the host vehicle subject to vehicle and environment constraints. Comparative study of standalone steering versus braking in a collision avoidance maneuver is given and results are discussed. The collision avoidance steering...
This paper presents a comparative analysis of different analytical methods for identification of vehicle inertial parameters. The effectiveness of four different identification methods namely Recursive Least Squares (RLS), Recursive Kalman Filter (RKF), Gradient, and Extended Kalman Filter (EKF) for estimation of mass, moment of inertia and location of center of gravity of a vehicle is investigated...
Vehicle rollover is a public safety issue [1]–[3]. According to the National Highway Traffic Safety Administration's (NHTSA) National Center for Statistics and Analysis, from 1991 to 2001 the number of passenger vehicle occupants killed in all motor vehicle crashes increased 4%, while fatalities in rollover crashes increased 10%. In 2001 alone, 10,138 people died in rollover crashes, a figure that...
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