Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

  • Hasan Şahin Istanbul Technical University
Keywords: Adaptive Trajectory Control, active safety, advanced driver assistance systems, collision avoidance, intelligent transportation systems, autonomous vehicle systems,

Abstract

This study analyses an Adaptive Trajectory Control (ATC) system in case of a sudden change in μ-max (maximum tyreroad friction coefficient) during an emergency lane change manoeuvre in order to maintain the driving safety. Autonomous front wheel steering (FWS) systems have been developed for emergency steering situations. The trajectory design is also a part of these systems. Moreover, in this study ATC has been designed by sensing μ-max to complete the emergency steering manoeuvre successfully. Therefore, the originality of this paper arises from the necessity of a trajectory change in case of a sudden change in μ-max to minimize the distance between the desired and the actual path. Suitable cases were designed by using a two-track model in IPG/CarMaker (MATLAB/Simulink). Results show that ATC could be used during an emergency steering manoeuvre in case of a sudden decrease in μ-max as it can be advantageous in certain critical traffic situations. Therefore, ATC could be
used as an alternative system instead of Electronic Stability Program.

Author Biography

Hasan Şahin, Istanbul Technical University

Mechanical Engineering Ph.D. (2012 - Present)

Automotive Engineering M.Sc. (2009 - 2011)

Mechatronics Engineering Bachelor (2004  - 2009)

References

Thierry P, Kassaagi M, Brissart G. Active safety experiments with common drivers for the specification of active safety systems. Society of Automotive Engineers. 2001; 11 p. Available from: https://www-nrd.nhtsa.dot.gov/pdf/esv/esv17/proceed/00004.pdf

Green M. How long does it take to stop: methodological analysis of driver perception-brake times. Transportation Human Factors. 2000;2(3):195-216.

Engström J, Aust LM, Viström M. Effects of working memory load and repeated scenario exposure on emergency braking performance. Human Factors. 2010;52(5):551-559.

Lee JD, McGehee DV, Brown TL, Reyes, ML. Collision warning timing, driver distraction, and driver response to imminent rear-end collisions in a high-fidelity driving simulator. Human Factors. 2002;44(2):314-335.

Itoh M, Horikome T, Inagaki T. Effectiveness and driver acceptance of a semi-autonomous forward obstacle collision avoidance system. Proceedings of the 54th annual meeting of the Human Factors and Ergonomics Society; 2010 Sep 27-Oct 1; Santa Monica, CA: Human Factors and Ergonomics Society; 2010.

Choi C, Kang Y, Lee S. Emergency collision avoidance manoeuvre based on nonlinear model predictive control. IEEE International Conference on Vehicular Electronics and Safety; 2012.

Jansson J, Johansson J. Decision making for collision avoidance systems. Society of Automotive Engineers. 2002; 10. p. Available from: http://papers.sae.org/2002-01-0403/

Markkula G, Benderius O, Wolff K, Wahde, M. A review of near-collision driver behavior models. Human Factors. 2012;54(6):1117-1143.

Adams LD. Review of the literature on obstacle avoidance manoeuvres: Braking versus steering. Tech. Rep. No. UMTRI-94-19. Ann Arbor: University of Michigan, Transportation Research Institute; 1994.

Lee SE, Llaneras E, Klauer S, Sudweeks J. Analyses of rear-end crashes and near-crashes in the 100-car naturalistic driving study to support rear-signaling countermeasure development. Tech. Rep. No. DOT HS 810 846. Blacksburg: Virginia Tech Transportation Institute; 2007.

Wiacek C, Najm W. Driver/vehicle characteristics in rear-end precrash scenarios based on the General Estimates System (GES). Society of Automotive Engineers. 1999; 7 p. Available from: http://papers.sae.org/1999-01-0817/

Lechner D, Van Elslande P. [Driver behavior in accident situations]. Society of Automotive Engineers; 1997. French

Institute of Traffic Accident Research and Data Analysis. Analysis of human factors in crossing collisions. ITARDA information, No. 56; 2005.

Shimizu M, Usami M, Fujinami H. Development of collision-avoidance assist system JSAE Autumn Convention Proceedings; 2007; No. 148-07. pp. 25-30; 2007.

Hayashi R, Isogai J, Raksincharoensak P, Nagai M. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory. Vehicle System Dynamics. 2012;50:sup1:151-168.

MacAdam C. Application of an optimal preview control for simulation of closed-loop automobile driving. IEEE Trans Syst Man Cybern. 1981;11(6):393-399.

Sharp R, Casanova D, Symonds P. A mathematical model for driver steering control, with design, tuning and performance results. Vehicle System Dynamics. 2000;33(5):289-326.

Salvucci D, Gray R. A two-point visual control model of steering. Perception. 2004;33(10):1233-1248.

Gordon T, Magnuski N. Modeling normal driving as a collision avoidance process. Proceedings of 8th International Symposium on Advanced Vehicle Control; 2006.

Ryu J, Kim SH, Kim HJ. An emergency obstacle avoidance control strategy for automated highway vehicles. Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility. 2002;38(5):319-339.

Markkula G, Benderius O, Wolff K, Wahde, M. Comparing and validating models of driver steering behaviour in collision avoidance and vehicle stabilisation. Vehicle System Dynamics. 2014;52(12):1658-1680.

Zhiquan QI, Taheri S, Wang B, Yu H. Estimation of the tyre–road maximum friction coefficient and slip slope based on a novel tyre model. Vehicle System Dynamics. 2015;53(4):506-525.

Luque P, Mántaras DA, Fidalgo E, Álvarez J, Riva P, Girón P, Compadre D, Ferran J. Tyre–road grip coefficient assessment – Part II: online estimation using instrumented vehicle, extended kalman filter, and neural network. Vehicle System Dynamics. 2013;51(12):1872-1893.

Patel N, Edwards C, Spurgeon SK. Tyre–road friction estimation – a comparative study. Proc. IMechE, Part D: J. Automobile Engineering. 2008;222(12):2337-2351.

Soudbakhsh D, Eskandarian A, Chichka D. Vehicle collision avoidance manoeuvres with limited lateral acceleration using optimal trajectory control. Journal of Dynamic Systems, Measurement, and Control. 2013;135(4):12 p.

Li K, Misener JA, Hedrick K. On-board road condition monitoring system using slip-based tyre–road friction estimation and wheel speed signal analysis. Proc. IMechE Part K: J. Multi-body Dynamics. 2007;221(1):129-146.

Doumiati M, Victorino A, Charara A, Lechner D. Lateral load transfer and normal forces estimation for vehicle safety: experimental test. Vehicle System Dynamics. 2009;47(12):1511-1533.

Wang J, Alexander L, Rajamani R. Friction estimation on highway vehicles using longitudinal measurements. Journal of Dynamic Systems, Measurement, and Control. 2004;126(2):265-275.

Eckert A, Hartmann B, Sevenich M, Rieth EP. Emergency steer & brake assist: A systematic approach for system integration of two complementary driver assistance systems. 22nd International Technical Conference on the Enhanced Safety of Vehicles (ESV); 2011 June 13-16; Washington DC; 2011.

Brebner JT. Welford AT, editors. Introduction: an historical background sketch. New York: Academic Press; 1980.

Fieandt K, Huhtala A, Kullberg P, Saarl K. Personal tempo and phenomenal time at different age levels. Reports from the Psychological Institute, No. 2, University of Helsinki; 1956.

Eidehall A, Pohl J, Gustafsson F, Ekmark J. Toward autonomous collision avoidance by steering. IEEE Transactions on Intelligent Transportation Systems. 2007;8(1):84-94.

Veldhuizen TJ. Yaw rate feedback by active rear wheel steering [PhD Thesis]. Eindhoven: Technische Universiteit Eindhoven; 2007.

Wong JY. Theory of ground vehicles. New Jersey: John Wiley & Sons; 2001.

Ghandour R, Victorina A, Doumiati M, Charara A. Tyre/road friction coefficient estimation applied to road safety. IEEE 18th Mediterranean Conference on Control & Automation. 2010 June 23-25; Marrakech, Morocco; 2010. p. 1485-1490.

Benderius O. Modelling driver steering and neuromuscular behaviour [PhD Thesis]. Chalmers: Chalmers University of Technology; 2014.

Nelson W. Continuous-curvature paths for autonomous vehicles. Proceedings of IEEE Int. Conf. Rob. Autom. 1989 May 14-19; 1989. vol. 3. p. 1260-1264.

Rajamani R. Vehicle Dynamics and Control. New York: Springer; 2006.

Franklin GF, Powell JD, Naeini AE. Feedback Control of Dynamic Systems. New Jersey: Pearson; 2006.

Published
2017-10-27
How to Cite
1.
Şahin H. Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient. Promet [Internet]. 2017Oct.27 [cited 2024Jun.23];29(5):469-78. Available from: https://traffic.fpz.hr/index.php/PROMTT/article/view/2384
Section
Articles