Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles. Issue 10 (3rd October 2018)

• Record Type: Journal Article
• Authors: Arikere, Adithya; Yang, Derong; Klomp, Matthijs; Lidberg, Mathias
• Is Part Of: Vehicle system dynamics. Volume 56:Issue 10(2018)
• Page Start: 1577
• Page End: 1603
• Publication Date: 2018-10-03
• Subjects: Collision avoidance -- integrated motion control -- longitudinal acceleration control -- driver assistance systems -- optimal control; Motor vehicles -- Dynamics -- Periodicals; Electronic journals; 629.231
• DOI: 10.1080/00423114.2017.1423091
• Languages: English
• ISSNs: 0042-3114

Abstract

ABSTRACT: Development and deployment of steering based collision avoidance systems are made difficult due to the complexity of dealing with oncoming vehicles during the evasive manoeuvre. A method to mitigate the collision risk with oncoming vehicles during such manoeuvres is presented in this work. A point mass analysis of such a scenario is first done to determine the importance of speed for mitigating the collision risk with the oncoming vehicle. A characteristic parameter was identified, which correlates well with the need to increase or decrease speed, in order to reduce the collision risk. This finding was then verified in experiments using a Volvo XC90 test vehicle. A closed-loop longitudinal acceleration controller for collision mitigation with oncoming vehicles is then presented. The longitudinal control is combined with yaw stability control using control allocation to form an integrated controller. Simulations in CarMaker using a validated XC90 vehicle model and the proposed controller showed consistent reductions in the collision risk with the oncoming vehicle.