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In this paper, an automatic collision avoidance method is studied, where it is formulated as an optimal control problem. Specifically, the problem is designed as minimization of the longitudinal distance to prevent collision. The optimal force inputs are obtained by the initial longitudinal and lateral velocities of the vehicle, as well as the lateral distance to avoid the obstacle. Then, the inputs...
This research estimates the minimum intervention distance needed for a vehicle to safely avoid an obstacle, while also preventing wheel lift and tire skid. The intervention strategy considered is an open-loop lane change avoidance trajectory. As the vehicle approaches the obstacle, it continually determines the available lane change maneuver, relying on predictions of the Zero-Moment Point (ZMP) metric...
In an emergency situation prior to an imminent accident, first in-vehicle warning systems would intervene and aim to make the driver to take a suitable action. If the risk of accident was not eliminated, then an autonomous collision avoidance manoeuvre can prevent it. In this work, path and speed control are intended to be used to perform such a manoeuvre by using steering and braking actuators respectively...
In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. We consider an unavoidable region (UR), which is constructed as the region in which the vehicle cannot avoid an obstacle owing to physical limitations. Even if the distance between the vehicle and the obstacle is short, the vehicle is directed by the nonlinear model...
In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. The C/GMRES algorithm is used for solving the nonlinear model predictive control (NMPC) problem within a short sampling period. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. Here, to consider whether it is possible to avoid an...
This paper presents a roll state estimator and a rollover prediction model based on a real-time roll estimator. The real-time roll estimator is designed to estimate the current roll angle and roll rate of the vehicle body from a 3DOF vehicle model. The veDYNA dynamic simulation software was used to verify the performance of roll motion prediction. The prediction model calculates the time it takes...
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