Open Access Open Access  Restricted Access Subscription or Fee Access

Lane Change Aspect Ratio and Dimensionless Path for Emergency Obstacle Avoidance


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireme.v16i4.22083

Abstract


This paper focused on the use of the nondimensionalization approach in autonomous collision avoidance, while taking into consideration five functions, namely circular arcs, ramp sinusoidal, and polynomials (quintic, septic, and cubic), for emergency lane-change manoeuvres. The aspect ratio, which is the ratio of the total longitudinal distance to the total lateral distance during a lane change, was obtained for each function. The dimensionless vehicle velocity is a single function that combines the vehicle velocity, total lateral distance for lane change, and tyre-road friction coefficient. The aspect ratio was plotted against the dimensionless vehicle velocity to obtain a dimensionless decision-making diagram. The intersection point between the curves produced by the autonomous emergency braking and autonomous emergency steering was identified for each decision-making diagram. Among the five functions, the circular arcs achieved the smallest aspect ratio, while the septic polynomial gave the largest aspect ratio. The dimensionless decision-making diagram may serve as a useful tool for the study of autonomous collision avoidance manoeuvres.
Copyright © 2022 Praise Worthy Prize - All rights reserved.

Keywords


Autonomous Emergency Braking; Autonomous Emergency Steering; Collision Avoidance; Lane Change; Obstacle Avoidance

Full Text:

PDF


References


Batayneh, W., Bataineh, A., Jaradat, M., Intelligent Adaptive Fuzzy Logic Genetic Algorithm Controller for Anti-Lock Braking System, (2021) International Review on Modelling and Simulations (IREMOS), 14 (1), pp. 44-54.
https://doi.org/10.15866/iremos.v14i1.19838

El-Bakkouri, J., Ouadi, H., Saad, A., Output Feedback Control of Antilock Braking System, (2021) International Review of Automatic Control (IREACO), 14 (4), pp. 214-223.
https://doi.org/10.15866/ireaco.v14i4.20060

B. Lenzo, M. Zanchetta, A. Sorniotti, P. Gruber, W. De Nijs, Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control, IEEE Transactions on Control Systems Technology, Vol. 29, n. 1, pp. 124-139, 2021.
https://doi.org/10.1109/TCST.2019.2949539

Amine, S., Mokhiamar, O., Robust Integrated Control of Wheel Slip and Direct Yaw Moment for Stabilizing the Dynamics of Skid-Steering Vehicles, (2017) International Review of Mechanical Engineering (IREME), 11 (8), pp. 562-572.
https://doi.org/10.15866/ireme.v11i8.12194

J. Zhang, H. Wang, M. Ma, M. Yu, A. Yazdani, L. Chen, Active Front Steering-Based Electronic Stability Control for Steer-by-Wire Vehicles via Terminal Sliding Mode and Extreme Learning Machine, IEEE Transactions on Vehicular Technology, Vol. 69, n. 12, pp. 14713-14726, 2020.
https://doi.org/10.1109/TVT.2020.3036400

J. Cho, K. Huh, Active Front Steering for Driver's Steering Comfort and Vehicle Driving Stability, International Journal of Automotive Technology, Vol. 20, pp. 589-596, 2019.
https://doi.org/10.1007/s12239-019-0056-1

S. Yu, W. Li, W. Wang, T. Qu, Nonlinear Control of Active Four-Wheel Steer-By-Wire Vehicles, IEEE Access, Vol. 7, pp. 127117-127127, 2019.
https://doi.org/10.1109/ACCESS.2019.2935237

H. E. B. Russell, J. C. Gerdes, Design of Variable Vehicle Handling Characteristics Using Four-Wheel Steer-by-Wire, IEEE Transactions on Control Systems Technology, Vol. 24, n. 5, pp. 1529-1540, 2016.
https://doi.org/10.1109/TCST.2015.2498134

F. Khelladi, R. Orjuela, M. Basset, Coordinated AFS and DYC for Autonomous Vehicle Steerability and Stability Enhancement, IFAC-PapersOnLine, Vol. 53, n. 2, pp. 14248-14253, 2020.
https://doi.org/10.1016/j.ifacol.2020.12.1160

A. Chokor, R. Talj, M. Doumiati, A. Charara, A Global Chassis Control System Involving Active Suspensions, Direct Yaw Control and Active Front Steering, IFAC-PapersOnLine, Vol. 52, n. 5, pp. 444-451, 2019.
https://doi.org/10.1016/j.ifacol.2019.09.071

M. Khayyat, S. Arrigoni, F. Cheli, Development and Simulation-Based Testing of a 5G-Connected Intersection AEB System, Vehicle System Dynamics, 2021.
https://doi.org/10.1080/00423114.2021.1998558

Y. Hwang, S. B. Choi, Adaptive Collision Avoidance Using Road Friction Information, IEEE Transactions on Intelligent Transportation Systems, Vol. 20, n. 1, pp. 348-361, 2019.
https://doi.org/10.1109/TITS.2018.2816947

J. Park, D. Kim, K. Huh, Emergency Collision Avoidance by Steering in Critical Situations, International Journal of Automotive Technology, Vol. 22, pp. 173-184, 2021.
https://doi.org/10.1007/s12239-021-0018-2

X. He, Y. Liu, C. Lv, X. Ji, Y. Liu, Emergency Steering Control of Autonomous Vehicle for Collision Avoidance and Stabilisation, Vehicle System Dynamics, Vol. 57, n. 8, pp. 1163-1187, 2019.
https://doi.org/10.1080/00423114.2018.1537494

A. S. P. Singh, O. Nishihara, Trajectory Tracking and Integrated Chassis Control for Obstacle Avoidance with Minimum Jerk, IEEE Transactions on Intelligent Transportation Systems, Vol. 23, n. 5, pp. 4625-4641, 2022.
https://doi.org/10.1109/TITS.2020.3047068

A. S. P. Singh, O. Nishihara, Nondimensionalized Univariate Equation Characterizing Optimal State Feedback Control for Collision Avoidance, IEEE Transactions on Intelligent Transportation Systems, Vol. 19, n. 10, pp. 3344-3359, 2018.
https://doi.org/10.1109/TITS.2017.2778091

Z. Shiller, S. Sundar, Emergency Lane-Change Manoeuvres of Autonomous Vehicles, Journal of Dynamic Systems, Measurement, and Control, Vol. 120, n. 1, pp. 37-44, 1998.
https://doi.org/10.1115/1.2801319

J. Shah, M. Best, A. Benmimoun, M. L. Ayat, Autonomous Rear-End Collision Avoidance Using an Electric Power Steering System, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 229, n. 12, pp. 1638-1655, 2015.
https://doi.org/10.1177/0954407014567517

A. S. P. Singh, O. Nishihara, Nondimensionalized indices for collision avoidance based on optimal control theory, Proc. FISITA World Automotive Congress, Busan, 2016.

N. H. Sledge, K. M. Marshek, Comparison of Ideal Vehicle Lane-Change Trajectories. SAE Technical Paper, pp. 233-256, 1997.
https://doi.org/10.4271/971062

Nelson, W, Continuous-curvature paths for autonomous vehicles, IEEE International Conference on Robotics and Automation, Arizona, 1989, pp. 1260-1264.

D. Weber, Investigation of the potential of brake avoidance assistance, Ph.D. dissertation, Karlsruhe Institute of Technology, Germany, 2012.

R. L. Eshelman, S. D. Desai, Articulated Vehicle Handling, U. S. DOT, National Highway Traffic Safety Administration, DOT-HS-800-674, NTIS No. PB-21 1201, 1972.

C. Schmidt, Driving strategies to avoid accidents in road traffic for single and multi-object scenarios, Ph.D. dissertation, Karlsruhe Institute of Technology, Germany, 2013.

J. Funke, J. C. Gerdes, Simple clothoid paths for autonomous vehicle lane changes at the limits of handling, Proceedings of the ASME 2013 Dynamic Systems and Control Conference, California, 2013.
https://doi.org/10.1115/DSCC2013-3947


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize