Autonomous collision avoidance system based on accurate knowledge of the vehicle surroundings

作者：Jimenez Felipe^*; Eugenio Naranjo Jose; Gomez Oscar

来源：IET Intelligent Transport Systems, 2015, 9(1): 105-117.

DOI：10.1049/iet-its.2013.0118

• collision avoidance
• road accidents
• road vehicles
• road traffic control
• autonomous collision avoidance system
• vehicle surroundings
• laser-scanner sensor
• control system
• steering control
• vehicle trajectory deviation
• digital map
• pedestrians
• private test track

In this study, a collision avoidance system is presented, based on the information provided by a laser-scanner sensor, in which two actions could be taken in case of danger. Firstly, the system tries to stop the vehicle in order to avoid the accident. If a reduction in speed is not sufficiently effective, the control system takes control of the steering and deviates the vehicle's trajectory in order to escape from the hazardous situation. The control system evaluates the situation and decides the most appropriate action in each case considering free areas on the surroundings using the information of a detailed digital map. This system has been implemented in a vehicle and has been tested with pedestrians and vehicles circulating along the private test track with satisfactory results.

• 出版日期2015-2