Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

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Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407020948298 ◽

2020 ◽

Vol 235 (1) ◽

pp. 43-54

Author(s):

Jun Liu ◽

Liang Gao ◽

Junjie Zhang ◽

Feng Yan

Keyword(s):

Sliding Mode Control ◽

Collision Avoidance ◽

Sliding Mode ◽

Mode Control ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Collision Avoidance System ◽

Path Planner ◽

Twisting Algorithm

Active collision avoidance system has received more and more attraction, which has the capability to avoid potential accidents and reduce driver burden. This paper proposes an active collision avoidance system which consists of a path planner and a coordinated lateral controller. In the path planner, cubic B-spline is developed to obtain collision-free trajectories to bypass the obstacle by steering. Based on this, a coordinated lateral dynamic control of autonomous ground vehicles is presented to improve the accuracy and robustness of path following and simultaneously ensure vehicle stability via active front steering and direct yaw moment control. Then, second-order sliding mode control, based on super-twisting algorithm, is applied to reduce lateral offset and heading angle deviation as much as possible and avoid chattering phenomenon of tradition sliding mode control. Meanwhile, a new form of sliding mode control based on improved reaching law is devoted to forcing the vehicle state sideslip angle and yaw rate to stability envelope with less chattering in the case of low road friction coefficient. Eventually, the effectiveness and robustness of active collision avoidance system against external disturbance and parametric uncertainties are confirmed through different test cases in the MATLAB/Simulink simulation platform.

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Study on Autonomous Intelligent Drive System Based on Potential Field with Hazard Anticipation

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2015.p0005 ◽

2015 ◽

Vol 27 (1) ◽

pp. 5-11 ◽

Cited By ~ 6

Author(s):

Ryosuke Matsumi ◽

◽

Pongsathorn Raksincharoensak ◽

Masao Nagai ◽

◽

...

Keyword(s):

Field Theory ◽

Computer Simulation ◽

Collision Avoidance ◽

Potential Field ◽

Drive System ◽

Urban Street ◽

Emergency Braking ◽

Collision Avoidance System ◽

Risk Potential ◽

Blind Spots

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/01.jpg"" width=""300"" />Risk potential estimation</div> Pedestrians darting out from blind spots in driver vision are typical scenarios in urban street environments, and conventional autonomous emergency braking systems reach safety limits if sensors do not detect the pedestrian in time to prevent accident or injury. The system must be able to anticipate such potential hazards and to anticipate such pedestrian action. This paper focuses on a pedestrian collision avoidance system that has a “driving-intelligence"" model. The model was designed by applying potential field theory using hazard-anticipatory knowledge. The effectiveness of the proposed system is confirmed by computer simulation. </span>

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Development of Collision Avoidance System in Right Turn Maneuver Using Vehicle-in-the-Loop Simulation

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2015.p0627 ◽

2015 ◽

Vol 27 (6) ◽

pp. 627-635 ◽

Cited By ~ 1

Author(s):

Pongsathorn Raksincharoensak ◽

◽

Yuta Akamatsu ◽

Keyword(s):

Collision Avoidance ◽

Control Algorithm ◽

System Development ◽

Speed Control ◽

Test Drive ◽

Emergency Braking ◽

Virtual Test ◽

Collision Avoidance System ◽

Right Turns

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/04.jpg"" width=""300"" /> Right turn collision avoidance</div>Collisions in Japan between vehicles during right turns account for a high number of other intersection accidents. We present collision avoidance that introduces speed control assistance combined with autonomous emergency braking when vehicles approach and a collision becomes imminent. Our proposal uses on-board sensors such as radar and cameras to handle situations without depending on X2X communication and infrastructure. We also propose a speed control algorithm. A “vehicle-in-the-loop test” involving a virtual test drive for rapid system development verifies the effectiveness of our proposals.

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A Novel Emergency Braking Control Strategy for Dual-Motor Electric Drive Tracked Vehicles Based on Regenerative Braking

Applied Sciences ◽

10.3390/app9122480 ◽

2019 ◽

Vol 9 (12) ◽

pp. 2480

Author(s):

Zhaomeng Chen ◽

Xiaojun Zhou ◽

Zhe Wang ◽

Yaoheng Li ◽

Bo Hu

Keyword(s):

Electric Drive ◽

Control Strategy ◽

Sliding Mode ◽

Slip Ratio ◽

Tracked Vehicles ◽

Emergency Braking ◽

Ground Conditions ◽

Antilock Braking ◽

The Difference ◽

Braking Control

Dual-motor electric drive tracked vehicles (DDTVs) have drawn much attention in the trends of hybridization and electrification for tracked vehicles. Their transmission chains differ significantly from the traditional ones. Due to the complication and slug of a traditional tracked vehicle braking system, as well as the difference of track-ground with tire-road, research of antilock braking control of tracked vehicles is rather lacking. With the application of permanent magnet synchronous motors (PMSMs), applying an advanced braking control strategy becomes practical. This paper develops a novel emergency braking control strategy using a sliding mode slip ratio controller and a rule-based braking torque allocating method. Simulations are conducted under various track-ground conditions for comparing the control performance of the proposed strategy with three other strategies including the full braking strategy, traditional antilock braking strategy, as well as sliding mode slip ratio strategy without the use of motors. For an initial speed of 80 km/h, simulation results show that the proposed control strategy performs the best among all strategies mentioned above. Several hardware-in-the-loop (HIL) experiments are conducted under the same track-ground conditions as the ones in the simulations. The experiment results verified the validity of the proposed emergency braking control strategy.

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A Lateral Active Collision Avoidance System Based on Fuzzy-PID and Sliding Mode Control for Electric Vehicles

2020 IEEE 9th Data Driven Control and Learning Systems Conference (DDCLS) ◽

10.1109/ddcls49620.2020.9275258 ◽

2020 ◽

Author(s):

Yu Tian ◽

Yufeng Lian ◽

Taotao Zhang ◽

Chonghe Tang ◽

Shi Qi

Keyword(s):

Sliding Mode Control ◽

Collision Avoidance ◽

Electric Vehicles ◽

Sliding Mode ◽

Fuzzy Pid ◽

Mode Control ◽

Collision Avoidance System

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A fuzzy sliding mode control of anti-lock system featured by magnetorheological brakes: performance evaluation via the hardware-in-the-loop simulation

Journal of Intelligent Material Systems and Structures ◽

10.1177/1045389x20974437 ◽

2020 ◽

pp. 1045389X2097443

Author(s):

Zhuo Wang ◽

Seung-Bok Choi

Keyword(s):

Sliding Mode ◽

Response Speed ◽

Hardware In The Loop ◽

Control Performance ◽

Control Effect ◽

Software Model ◽

Braking Torque ◽

Braking Control ◽

Braking Process ◽

Magneto Rheological

The aim of this work is to propose a new type of anti-lock braking system (ABS) using a magneto-rheological (MR) brake and validate its effectiveness by implementing a fuzzy logic sliding mode (FLSM) controller via the hardware-in-the-loop-simulation (HILS). Firstly, a quarter vehicle model integrated with the tire model is established to analyze control performance of MR brake during the braking process under different road conditions. Secondly, a disc type MR brake is designed on the basis of a mathematical model and the field-dependent braking torque is measured. Subsequently, in order to investigate the control performance of the proposed ABS, the software model is combined with the hardware configuration which is built by Matlab/Simulink. It is shown via HILS that the proposed ABS associated with the FLSM controller can provide high response speed and excellent braking control effect. In this work, control responses from the FLSM controller are also compared with those achieved from the conventional sliding mode controller in order to emphasize the significance of the control strategy to enhance ABS performances.

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