It is expected that a collision avoidance system based on steering control could help avoid collisions even in cases where a collision cannot be avoided by braking only. For realizing steering-based collision avoidance, accurate environmental recognition and rapid motion planning in a highly dynamic environment are needed. The velocity potential field control method, which was proposed for mobile robot motion planning, has the advantages of a very low computation cost, even in dynamic environments with moving obstacles without any deadlock. In addition, the method generates the desired velocity vector to be followed but vehicle trajectory. With this feature, avoidance velocity vector is generated in realtime even in the case that the obstacles are moving and their movements cannot be anticipated. Thus, the present study proposes a collision avoidance method with steering control by generating a trajectory for obstacle avoidance using local environmental recognition based on application of the velocity potential field approach. In addition, a parameter determination method for the velocity potential function is derived. A preview steering control method for following the derived velocity vector is proposed. The simulation results obtained using vehicle dynamics software demonstrate that the proposed method can generate appropriate obstacle avoidance trajectories, even for moving obstacles, and the derived velocity vector can be tracked by an automobile.

Collision avoidance control with steering using velocity potential field

A novel inter-vehicle communication system based on emotion enabled cognitive (EEC) agent has been anticipated as an intelligent solution to evade the road catastrophe due to hasty decisions by drivers. An input stimulus is processed in human brain using a short route and a long route during any emergency situation. The proposed EEC agent, mounted inside a vehicle, acts like a human brain and is stirred by short route information processing mechanism of human brain in fear condition. The results are acquired for the decisions made by the proposed approach through the EEC agent using short route and human drivers using long route during urgent situations. A pre crash sensing and avoidance algorithm has been proposed as well to mitigate the lateral or side by side collision using EEC agent.  Experimental findings reveal that by commencing emotions with cognition, and using formulated L-PCSA algorithm, lateral collisions chances can be sensed and avoided to secure the valued lives of passengers. It has been pragmatic that the new approach is very effectual and useful in shunning the lateral road collisions.

https://www.ijcnis.org/index.php/ijcnis/article/download/355/120

Lateral Pre-crash Sensing and Avoidance in Emotion Enabled Cognitive Agent based Vehicle-2-Vehicle Communication System

This paper looks at stand-alone collision warning systems that are based on information from on-board sensors and evaluates their safety performance relative to system penetration rate. The authors developed an autonomous microscopic traffic simulator for collision warning systems, including both forward vehicle collision warning systems and side collision warning systems, then evaluated such systems through simulation. Safety performance from the perspective of drivers was evaluated using the average distance driven without an accident for both system-equipped and unequipped vehicles. Safety performance from the perspective of road administrators was evaluated using the average interval between accidents. The average distance driven without an accident for system-equipped vehicles, compared to that for a system in which no system-equipped vehicles exist, increases greatly beginning from a low rate of penetration, suggesting that increased rates of penetration are attended by even greater effectiveness. With regard to the average distance driven without an accident for unequipped vehicles, too, increased rates of penetration are attended by increased safety performance due to the collision avoidance effect of warnings produced by system-equipped vehicles. In terms of safety performance from the perspective of road administrators, that is, the average interval between accidents, evaluations indicated that safety performance increases dramatically when the penetration rate exceeds 60%. The above findings illustrate the effect of system penetration rate on the safety performance of stand-alone collision warning systems that are based on information from on-board sensors.

https://www.iatss.or.jp/common/pdf/en/publication/iatss-research/30-2-04.pdf

STAND-ALONE COLLISION WARNING SYSTEMS BASED ON INFORMATION FROM ON-BOARD SENSORS: Evaluating Performance Relative to System Penetration Rate

This paper introduces a research plan by the National Highway Traffic Safety Administration (NHTSA) of the U.S. Department of Transportation to be used for developing objective test procedures and estimating safety benefits of pre-crash sensing countermeasures. The main objective of pre-crash sensing applications is to sense a collision earlier than the current accelerometer-based approaches with anticipatory and more descriptive sensors, communicate this information to the vehicle and its occupant protection systems, and take appropriate actions to reduce the severity of crash injury. In addition, this paper provides preliminary results from a preparatory analysis to review state-of-the-art pre-crash sensing technology and applications, proposes a methodology to estimate their safety benefits, and defines relevant crash problems. The technology review is based on literature available in the public domain. The benefits estimation methodology is founded on the reduction of total harm by comparative assessment of crash injury with and without the assistance of pre-crash sensing systems. The crash problem is defined using the Crashworthiness Data System to identify relevant crashworthiness scenarios and their respective harm.

Pre-Crash Sensing Countermeasures and Benefits

Exploratory Analysis of Pre-Crash Sensing Countermeasures

A large number of means for active safety and passive safety have been studied for road traffic safety, and various safety systems have been commercialized. It has now become important to link active safety with passive safety to enhance overall safety. Therefore, a pre-crash safety system has been developed that helps to reduce crash injuries by determining the likelihood of a crash in advance, and activating active safety systems and passive safety systems at an earlier stage. This paper describes the configuration, functions, and effects of this pre-crash safety system. The newly developed system consists of a pre-crash sensor, a pre-crash seat belt, and pre-crash brake assist. The pre-crash sensor is composed of a millimeter-wave radar that detects forward obstacles and a pre-crash safety computer that helps to determine in advance whether a crash is unavoidable, based on location, speed and course of an obstacle. The pre-crash seat belt, which employs a mechanism to retract the seat belt by a motor, helps to reduce crash injuries through earlier restraint of front occupants. The pre-crash brake assist helps to reduce the crash speed by quickly generating a large brake force in response to the driver's brake pedal operation even when sudden braking is not being performed. For the covering abstract see ITRD E825082.

Development of pre-crash safety system

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Development of pre-crash safety system