This study provides a simulation-based comparative analysis of the distance and time needed for long combination vehicles (LCVs) - namely, A-doubles with 28-, 33-, and 48-ft trailers - to safely exercise an emergency, evasive steering maneuver such as required for obstacle avoidance. The results are also compared with conventional tractor-semitrailers with a single 53-ft trailer. A multi-body dynamic model for each vehicle combination is developed in TruckSim® with an attempt to assess the last point to steer (LPTS) and evasive time (ET) at various highway speeds under both dry and wet road conditions. The results indicate that the minimum avoidance distance and time required for the 28-ft doubles vary from 206 ft (60 mph) to 312 ft (80 mph) and 2.3 s to 2.6 s, respectively. The required LPTS represents a 6% to 31% increase when compared with 53-ft semitrucks. When driving below 76 mph on a dry road and below 75 mph on a wet road, the 28-ft doubles exhibit LPTS and ET that are larger

Chen, Yang, Zhang, Zichen, Ahmadian, Mehdi

Trajectory Planning and Tracking for Four-Wheel-Steering Autonomous Vehicle with V2V Communication

2020-01-011404/14/2020

Lane-changing is a typical traffic scene effecting on road traffic with high request for reliability, robustness and driving comfort to improve the road safety and transportation efficiency. The development of connected autonomous vehicles with V2V communication provide more advanced control strategies to research of lane-changing. Meanwhile, four-wheel steering is an effective way to improve flexibility of vehicle. The front and rear wheels rotate in opposite direction to reduce the turning radius to improve the servo agility operation at the low speed while those rotate in same direction to reduce the probability of the slip accident to improve the stability at the high speed. Hence, this paper established Four-Wheel-Steering(4WS) vehicle dynamic model and quasi real lane-changing scenes to analyze the motion constraints of the vehicles. Then, the polynomial function was used for the lane-changing trajectory planning and the extended rectangular vehicle model was established to get

Ma, Fangwu, Shen, Yucheng, Nie, Jiahong, Li, Xiyu, Yang, Yu, Wang, Jiawei, Wu, Guanpu

Decision Making and Trajectory Planning for Lane Change Control Inspired by Parallel Parking

2020-01-013404/14/2020

Lane-changing systems have been developed and applied to improve environmental adaptability of advanced driver assistant system (ADAS) and driver comfort. Lane-changing control consists of three steps: decision making, trajectory planning and trajectory tracking. Current methods are not perfect due to weaknesses such as high computation cost, low robustness to uncertainties, etc. In this paper, a novel lane changing control method is proposed, where lane-changing behavior is analogized to parallel parking behavior. In the perspective of host vehicle with lane-changing intention, the space between vehicles in the target adjacent lane can be regarded as dynamic parking space. A decision making and path planning algorithm of parallel parking is adapted to deal with lane change condition. The adopted algorithm based on rules checks lane-changing feasibility and generates desired path in the moving reference system at the same speed of vehicles in target lane. Compared to algorithm for

Yu, Liangyao, Ru, Ze, Lu, Zhenghong, Liang, Guanqun, Xiong, Cenbo, Lanie, Abi, Wang, Ruyue

Self-Exploration of Automated System under Dynamic Environment

2020-01-012604/14/2020

Exploring an unknown place autonomously is a challenge for robots, especially when the environment is changing. Moreover, in real world application, efficient path planning is crucial for autonomous vehicles to have timely response to execute a collision-free motion. In this paper we focus on environment exploration which enables an automated system to establish a map of an unknown environment with unforeseen objects moving within it. We introduce an exploration package that enables robots self-exploration with an online collision avoidance planner. The package consists of exploration module, global planner module and local planner module. We modularize the package so that developers can easily make modifications or even substitutions to some modules for their specific application. In order to validate the algorithm, we designed and built a robot car as a low cost validation platform to test the autonomous vehicle algorithms in the real world. The car has a 22.36 x 11.65 x 7.6 inches

Zhang, Weiyang, Sun, Yong, He, Haokun, Yu, Wenbo, Cai, Pengcheng

A Study of the Performance of Automatic Emergency Braking (AEB) Systems Equipped on Passenger Vehicles for Model Years 2013 to 2018

2019-01-041604/02/2019

Over the past decade, manufacturers have introduced vehicles equipped with Automatic Emergency Braking (AEB) into the North American market. These vehicles have the capability to not only detect an impending collision and warn the driver, but also to initiate braking independent of the driver. The collision avoidance strategies used by the various manufacturers have not been studied extensively. In 2013, the Insurance Institute for Highway Safety (IIHS) began testing vehicles equipped with AEB in rear-end collision situations in order to issue their front crash prevention safety ratings for these vehicles. To date, over 180 vehicles from 31 manufactures spanning model years 2013 to 2018 have been tested. This paper presents an analysis of the data collected in these tests. The objective of the study was to assess the differences in performance and strategies used, at two different closing speeds, between manufacturers. The difference in strategies included differences in braking rates

Miholjcic, Djordje, Fabbroni, Mark, Robinson, Richard

2021-12-29.TEST Theory of Collision Avoidance Capability in Automated Driving Technologies

2018-01-0044

04/03/2018

This paper proposes a theory to analyze the collision avoidance capability of automated driving technologies. The theory gives answers to a fundamental question whether automated vehicles fall into extreme conditions at all rather than another question how a vehicle reacts under extreme conditions (is it as safe as driver?). The theory clarifies the following matters: There are two types of hazards to cause collisions, cognitive hazards and behavioral hazards. Cognitive hazards are handled by controlling the upper limit speed of the automated vehicle including when stopped. There are two methods for handling behavioral hazards, preparation and response. The response known well is the coping method activated when the hazard is detected in the dynamic (operational) level. The preparation is the coping method operating at all time in the semantic (tactical) level. The collision condition in the semantic level is as follows, a collision occurs when the paths of two vehicles have a crossing

KINDO, Toshiki, Okumura, Bunyo

Preliminary Study of LIDAR Scanner-Based Collision Avoidance in Automated Guided Systems for Autonomous Power Equipment Products

2018-01-003204/03/2018

Technology is continuously being developed to prevent self-driving vehicles from crashing. That technology could also be considered for other autonomous products. Collision avoidance in automated guided systems using a light detection and ranging (LIDAR) scanner has been studied for application in low-speed autonomous Honda Power Equipment products, such as self-driving lawn mowers. The automotive application of a LIDAR scanner for autonomous driving is used for obstacle detection and offline local area. Such delineations do not exist in areas where power equipment is used, such as grass fields; therefore, identifying object height and distance is a relatively new area. For this study, a small LIDAR scanner with a resolution of 0.01 m and a measurement range of 0.05 to 40.00 m was used on a Honda self-driving lawn mower. The measurement distance data was directly processed in the scanner, enabling the drive unit to obtain distance information during actual operation. Based on real-time

Hasegawa, Toshiyuki, Wians, Jeff

2021-12-29.TEST Steering Control Based on the Yaw Rate and Projected Steering Wheel Angle in Evasion Maneuvers

2018-01-0030

04/03/2018

When automobiles are at the threat of collisions, steering usually needs shorter longitudinal distance than braking for collision avoidance, especially under the condition of high speed or low adhesion. Thus, more collision accidents can be avoided in the same situation. The steering assistance is in need since the operation is hard for drivers. And considering the dynamic characteristics of vehicles in those maneuvers, the real-time and the accuracy of the assisted algorithms is essential. In view of the above problems, this paper first takes lateral acceleration of the vehicle as the constraint, aiming at the collision avoidance situation of the straight lane and the stable driving inside the curve, and trajectory of the collision avoidance is derived by a quintic polynomial. Based on the control of the steering wheel angle by the optimal preview control algorithm, the differential braking control is carried out by using the feedbacks of yaw rate and the projected steering wheel

Ye, Yifan, Zhao, Jian, Wu, Jian, Zhu, Bing, Zhao, Yang, Deng, Weiwen

A Maneuver-Based Threat Assessment Strategy for Collision Avoidance

2018-01-059804/03/2018

Advanced driver assistance systems (ADAS) are being developed for more and more complicated application scenarios, which often require more predictive strategies with better understanding of driving environment. Taking traffic vehicles’ maneuvers into account can greatly expand the beforehand time span for danger awareness. This paper presents a maneuver-based strategy to vehicle collision threat assessment. First, a maneuver-based trajectory prediction model (MTPM) is built, in which near-future trajectories of ego vehicle and traffic vehicles are estimated with the combination of vehicle’s maneuvers and kinematic models that correspond to every maneuver. The most probable maneuvers of ego vehicle and each traffic vehicles are modeled and inferred via Hidden Markov Models with mixture of Gaussians outputs (GMHMM). Based on the inferred maneuvers, trajectory sets consisting of vehicles’ position and motion states are predicted by kinematic models. Subsequently, time to collision (TTC

Li, Yaxin, Deng, Weiwen, Sun, Bohua, Wang, Jinsong, Zhao, Jian

Method to Derive Monetarily Effective Parameters for ADAS at Parking and Maneuvering

2018-01-060504/03/2018

The effectiveness of ADAS addressing property damage has an increasing impact on car manufacturers, insurers and customers, as accident avoidance or mitigation can lead to loss reduction. In order to obtain benefits, it is essential that ADAS primarily address monetarily relevant accident scenarios. Furthermore, sensor technologies and algorithms have to be configured in a way that relevant accident situations can be sufficiently avoided at reasonable system costs. A new methodology is developed to identify and configure monetarily effective parameters for ADAS during parking and maneuvering. ADAS parameters e.g. relevant accident scenarios, required crash avoidance speeds and different sensor layouts are analyzed and evaluated using a real-world in-depth accident database of insurance claims provided by Allianz Center for Technology and Allianz Automotive Innovation Center. For this purpose, a sensitivity analysis is conducted to identify most monetarily effective accident scenarios

Schatz, Julian, Eser, Manuel, Feig, Philip, Gwehenberger, Johann, Borrack, Marcel, Lienkamp, Markus

Neighboring Mobile Robot Cell with Drilling and Fastening

2017-01-209409/19/2017

Electroimpact, in collaboration with Boeing, has developed an advanced robotic assembly cell, dubbed “The Quadbots.” Using Electroimpact’s patented Accurate Robot technology and multi-function end effector (MFEE), each robot can drill, countersink, inspect hole quality, apply sealant, and insert fasteners into the part. The cell consists of 4 identical machines simultaneously working on a single section of the Boeing 787 fuselage, two on the left, and two on the right. These machines employ “collision avoidance” a new feature in their software to help them work more synchronously. The collision avoidance software uses positional feedback from external safety rated encoders mounted to the motors on the robot. From this feedback, safe spaces, in the form of virtual boundaries can be created. Such that a robot will stop and wait if the adjacent robot is in, or going to move into its programmed work envelope. Another feature of the collision avoidance is to limit robot speeds when they are

Everhart, Tyler

Method to Optimize Key Parameters and Effectiveness Evaluation of the AEB System Based on Rear-End Collision Accidents

2017-01-011203/28/2017

Rear-end accident is one of the most important collision modes in China, which often leads to severe accident consequences due to the high collision velocity. Autonomous Emergency Braking (AEB) system could perform emergency brake automatically in dangerous situation and mitigate the consequence. This study focused on the analysis of the rear-end accidents in China in order to discuss about the parameters of Time–to-Collision (TTC) and the comprehensive evaluation of typical AEB. A sample of 84 accidents was in-depth investigated and reconstructed, providing a comprehensive set of data describing the pre-crash matrix. Each accident in this sample is modeled numerically by the simulation tool PC-Crash. In parallel, a model representing the function of an AEB system has been established. This AEB system applies partial braking when the TTC ≤ TTC1 and full braking when the TTC ≤ TTC2. Lastly, the AEB system’s model is coupled to the kinematic of the vehicle in simulation for virtual

Zhao, Mingming, Wang, Hongyan, Chen, Junyi, Xu, Xiao, He, Yutong

Model Predictive Control for Feasible Region of Active Collision Avoidance

2017-01-004503/28/2017

Vehicle active collision avoidance includes collision avoidance by braking and by steering. However, both of these two methods have their limitations. Therefore, it is significant to establish the feasible region of active collision avoidance to choose the optimal way to avoid traffic accidents. This paper focuses on the steering control of an autonomous vehicle to track the planned trajectory and to perform an emergency collision avoidance maneuver. Meanwhile, the collision avoidance effect of steering control is compared with that of braking control. The path tracking controller is designed by hierarchical control structure. The upper controller includes model predictive control allocation and speed controller, and the lower is designed by weighted least-squares control allocation for torque allocation. Besides, seven order polynomial is used for path planning. In this paper, two kinds of steering collision avoidance measures are compared, including steering without yaw moment and

Zhuo, Guirong, Wu, Cheng, Zhang, Fengbo

Activation Timing of a Collision Avoidance System with V2V Communication

2017-01-003903/28/2017

A vehicle-to-vehicle communication system (V2V) sends and receives vehicle information by wireless communication and assists safe driving. The present study investigated the activation timings of collision information support, collision caution support, and collision warning support provided by a V2V in an experiment using a driving simulator for four situations of (1) assistance in braking, (2) assistance in accelerating, (3) assistance in making a right turn, and (4) assistance in making a left turn at a blind intersection. The four situations are common scenarios of traffic accidents in Japan. Safety margins for collision information support and collision warning support were the time required for the driver to fully apply the brake pedal, while the safety margin for collision caution support was the time required for the driver to begin applying the brake pedal. The study investigated the effects of adding safety margins to standard activation timings. The standard activation

Hirose, Toshiya, Ohtsuka, Yasufumi, Gokan, Masato

SAE International Journal of Passenger Cars—Electronic and Electrical Systems

E-JOURNAL-0701/01/2017

The SAE International Journal of Passenger Cars: Electronic and Electrical Systems is discontinued from 2020 and merged into SAE International Journal of Connected and Automated Vehicles. Indexed in CNKI ESCI (Emerging Sources Citation Index, Web of Science) Engineering Village (Ei Compendex) Scopus Published Volumes

A Methodology for Collision Prediction and Alert Generation in Airport Environment

2016-01-197609/20/2016

Aviation safety is one of the key focus areas of the aerospace industry as it involves safety of passengers, crew, assets etc. Due to advancements in technology, aviation safety has reached to safest levels compared to last few decades. In spite of declining trends in in-air accident rate, ground accidents are increasing due to ever increasing air traffic and human factors in the airport. Majority of the accidents occur during initial and final phases of the flight. Rapid increase in air traffic would pose challenge in ensuring safety and best utilization of Airports, Airspace and assets. In current scenario multiple systems like Runway Debris Monitoring System, Runway Incursion Detection System, Obstacle avoidance system and Traffic Collision Avoidance System are used for collision prediction and alerting in airport environment. However these approaches are standalone in nature and have limitations in coverage, performance and are dependent on onboard equipment. There is a need to

Thupakula, Kiran, Sivaramasastry, Adishesha, Gampa, Srikanth

The Use of Stationary Object Radar Sensor Data from Advanced Driver Assistance Systems (ADAS) in Accident Reconstruction

2016-01-146504/05/2016

As a result of the development of Event Data Recorders (EDR) and the recent FMVSS regulation 49 CFR 563, today’s automobiles provide a limited subset of electronic data measurements of a vehicle’s state before and during a crash. Prior to this data, the only information available about the vehicle movements before or during a collision had come from physical evidence (e.g. tire marks), witnesses, aftermarket camera systems on vehicles, and ground-based cameras that were monitoring vehicle traffic or used for security surveillance. Today’s vehicles equipped with Advanced Driver Assistance Systems (ADAS) have vehicle-based sensors that measure information about the environment around a vehicle including other vehicles, pedestrians, and fixed wayside objects. Vehicles equipped with these ADAS systems use primarily radar, lidar, ultrasonic, and/or image sensors either in standalone operation or in combination to establish the range and movement of potential hazardous objects (e.g. other

Zolock, John, Senatore, Carmine, Yee, Ryan, Larson, Robert, Curry, Brian

Development of New Electronically Controlled Hydraulic Unit for Various Applications

2016-01-166004/05/2016

The use of hybrid, fuel cell electric, and pure electric vehicles is on the increase as part of measures to help reduce exhaust gas emissions and to help resolve energy issues. These vehicles use regenerative-friction brake coordination technology, which requires a braking system that can accurately control the hydraulic brakes in response to small changes in regenerative braking. At the same time, the spread of collision avoidance support technology is progressing at a rapid pace along with a growing awareness of vehicle safety. This technology requires braking systems that can apply a large braking force in a short time. Although brake systems that have both accurate hydraulic control and large braking force have been developed in the past, simplification is required to promote further adoption. This paper describes the following three items: (1) an examination of the brake system functions that realize the regenerative-friction brake coordination and collision avoidance support

Okano, Takahiro, Sakai, Akira, Kamiya, Yusuke, Masuda, Yoshio, Yamaguchi, Tomoyuki

Design of a Robust Method and a System Architecture for Tracking Moving Vehicle under Noisy Radar Measurements

2016-01-016504/05/2016

Innovation in the field of intelligent autonomous systems of the automotive sector has been ever increasing. Accurate tracking of vehicles is an important aspect in the design of applications such as smart route planning or collision avoidance systems. In practical applications, tracking of vehicle using radar technology suffers from serious problem due to noisy measurements. It introduces major limit on the accuracy of the tracking system. This paper discusses a case study scenario where the robustness of vehicle tracking can be improved using Extended Kalman Filtering. Noisy radar measurement is simulated through model based design (MBD) using MATLAB. Analysis and design of Extended Kalman Filter to mitigate the noise is discussed. An efficient system architecture to implement the algorithm in autonomous smart vehicle tracking system is also identified.

Dheenadhayalan, Padmanaban

Implementing Secure Command and Control in Unmanned Systems

TBMG-2311610/01/2015

Unmanned vehicles are at the forefront of an evolution, especially with the proliferation of the Internet of Things. After decades of serving mission-critical applications in government and defense, the command and control (C2) capabilities of advanced wireless data communications have begun to migrate into the public safety, research, and commercial markets. The robust and secure infrastructure necessary for the eventual proliferation of unmanned vehicles is slowly being realized. Today, however, industries such as public safety, agriculture and oil and gas are being eyed as key markets that can benefit from the use of Remotely Piloted Aircraft (RPA). For several applications, such as wildfire monitoring and border protection, RPAs can even be used to protect people and save lives.

A Novel Approach to Cooperative and Non-Cooperative RPAS Detect-and-Avoid

2015-01-247009/15/2015

A unified approach to cooperative and non-cooperative Detect-and-Avoid (DAA) is a key enabler for Remotely Piloted Aircraft System (RPAS) to safely and routinely access all classes of airspace. In this paper state-of-the-art cooperative and non-cooperative DAA sensor/system technologies for manned aircraft and RPAS are reviewed and the associated multi-sensor data fusion techniques are discussed. A DAA system architecture is presented based on Boolean Decision Logics (BDL) for selecting non-cooperative and cooperative sensors/systems including both passive and active Forward Looking Sensors (FLS), Traffic Collision Avoidance System (TCAS) and Automatic Dependent Surveillance - Broadcast (ADS-B). After elaborating the DAA system processes, the key mathematical models associated with both non-cooperative and cooperative DAA functions are presented. The Interacting Multiple Model (IMM) algorithm is adopted to estimate the state vector of the intruders and this is propagated to predict the

Ramasamy, Subramanian, Sabatini, Roberto, Gardi, Alessandro

Investigation of GNSS Integrity Augmentation Synergies with Unmanned Aircraft Sense-and-Avoid Systems

2015-01-245609/15/2015

Global Navigation Satellite Systems (GNSS) can support the development of low-cost and high performance navigation and guidance architectures for Unmanned Aircraft Systems (UAS) and, in conjunction with suitable data link technologies, the provision of Automated Dependent Surveillance (ADS) functionalities for cooperative Sense-and-Avoid (SAA). In non-cooperative SAA, the adoption of GNSS can also provide the key positioning and, in some cases, attitude data (using multiple antennas) required for automated collision avoidance. A key limitation of GNSS for both cooperative (ADS) and non-cooperative applications is represented by the achievable levels of integrity. Therefore, an Avionics Based Integrity Augmentation (ABIA) solution is proposed to support the development of an Integrity-Augmented SAA (IAS) architecture suitable for both cooperative and non-cooperative scenarios. The performances of this IAS architecture were investigated in representative simulation case studies by

Sabatini, Roberto, Moore, Terry, Hill, Chris, Ramasamy, Subramanian

Multi-Sensor Data Fusion Techniques for RPAS Detect, Track and Avoid

2015-01-247509/15/2015

Accurate and robust tracking of objects is of growing interest amongst the computer vision scientific community. The ability of a multi-sensor system to detect and track objects, and accurately predict their future trajectory is critical in the context of mission- and safety-critical applications. Remotely Piloted Aircraft System (RPAS) are currently not equipped to routinely access all classes of airspace since certified Detect-and-Avoid (DAA) systems are yet to be developed. Such capabilities can be achieved by incorporating both cooperative and non-cooperative DAA functions, as well as providing enhanced communications, navigation and surveillance (CNS) services. DAA is highly dependent on the performance of CNS systems for Detection, Tacking and avoiding (DTA) tasks and maneuvers. In order to perform an effective detection of objects, a number of high performance, reliable and accurate avionics sensors and systems are adopted including non-cooperative sensors (visual and thermal

Cappello, Francesco, Sabatini, Roberto, Ramasamy, Subramanian

Image Processing Based Air Vehicles Classification for UAV Sense and Avoid Systems

2015-01-247109/15/2015

The maturity reached in the development of Unmanned Air Vehicles (UAVs) systems is making them more and more attractive for a vast number of civil missions. Clearly, the introduction of UAVs in the civil airspace requiring practical and effective regulation is one of the most critical issues being currently discussed. As several civil air authorities report in their regulations “Sense and Avoid” or “Detect and Avoid” capabilities are critical to the successful integration of UAV into the civil airspace. One possible approach to achieve this capability, specifically for operations beyond the Line-of-Sight, would be to equip air vehicles with a vision-based system using cameras to monitor the surrounding air space and to classify other air vehicles flying in close proximity. This paper presents an image-based application for the supervised classification of air vehicles. First, several vehicle images, taken from different points of view, are transformed using a descriptor of salient

Ceruti, Alessandro, Curatolo, Simone, Bevilacqua, Alessandro, Marzocca, Piergiovanni

Adaptive Multi-Agent Unmanned Aerial Vehicle Systems with a Potential Field based Leader-Follower Formation Control Method

2015-01-245709/15/2015

In this paper, we investigate the formation control of multiple unmanned aerial vehicles (UAVs) in an obstacle-laden environment for target tracking. The main contribution of this paper is to develop a potential field based leader-follower formation control method for target tracking and obstacle/collision avoidance. In the potential field, a quantity of virtual positive charge carried by each of UAVs varies depending upon their roles as a leader or follower when obstacles and targets are regarded as ions with larger positive and negative charges, respectively. Therefore, the formation formed by the UAVs connected with their inter-bonds could be adapted while the UAVs get around the obstacles and are attracted to the targets. The potential field based leader-follower formation control method is developed to reshape a UAV team configuration to track a target while the UAV team avoids the obstacles. The adaptivity and efficiency of the closed-loop UAV system was validated by simulating a

Chung, Jae, Cheung, Yushing

Risk-Aware Mars Rover Operation Tool with Autonomous Terrain Classifier and Path Planner

TBMG-22865

09/01/2015

The greatest single source of risks for Mars rovers is terrain. These risks are currently managed by a labor-intensive process in which rover operators carefully examine the terrain and plan a path to avoid any potential hazards. This poses a challenge, particularly for the operation of an MSL (Mars Science Laboratory)-class rover, because it must be very risk-averse in order not to lose the asset, while it already requires a significant amount of labor due to the complexity of the rover. Hence, it is important to develop a software tool that helps operators to detect and avoid terrain hazards efficiently and reliably.