Simulation Analysis of a PSO-Based Vehicle Collision Avoidance Method under Cooperative Vehicle Infrastructure Environment

2012 ◽  
Vol 241-244 ◽  
pp. 1539-1544
Author(s):  
Jiang Liu ◽  
Bai Gen Cai ◽  
Yun Peng Wang ◽  
Jian Wang
Keyword(s):  
Collision Avoidance ◽  
Simulation Analysis ◽  
Sufficient Information ◽  
Vehicle Collisions ◽  
Safety Assurance ◽  
Unsignalized Intersections ◽  
Vehicle Collision ◽  
Information Interaction ◽  
Braking Control ◽  
And Performance

Vehicle safety is of great importance to improve the capability and performance of the transportation system. To deal with safety threats most probably caused by the vehicle collisions in unsignalized intersections, concept of vehicle infrastructure cooperation provides a perspective and challenging solution to enable sufficient information interaction by V2V and V2I communication, which make it feasible to avoid collisions more autonomously. In vehicle collision avoidance scheme, decision making of vehicle braking control is crucial for emergent situations when safety alerts are not reacted by the driver. In this paper, a novel cooperative vehicle collision avoidance method based on particle swarm optimization is proposed, with an integrated fitness updating criteria considering both safety interval and relative continuity of vehicle deceleration. With a simulation analysis approach, the proposed collision avoiding solution is validated in a real road oriented scenario, and the results demonstrate its effectiveness and advantages to reduce collision and achieve safety assurance under cooperative vehicle infrastructure environment.

Case Exercise: Biomechanics in Rearend Motor Vehicle Collisions

2007 ◽  
Vol 12 (3) ◽  
pp. 4-7
Author(s):  
Charles N. Brooks ◽  
Christopher R. Brigham
Keyword(s):  
Motor Vehicle ◽  
Body Position ◽  
Motor Vehicle Collisions ◽  
Time Curve ◽  
Vehicle Collisions ◽  
Need For Treatment ◽  
Multiple Factors ◽  
Bodily Injury ◽  
Vehicle Collision ◽  
Physical Findings

Abstract Multiple factors determine the likelihood, type, and severity of bodily injury following a motor vehicle collision and, in turn, influence the need for treatment, extent of disability, and likelihood of permanent impairment. Among the most important factors is the change in velocity due to an impact (Δv). Other factors include the individual's strength and elasticity, body position at the time of impact, awareness of the impending impact (ie, opportunity to brace, guard, or contract muscles before an impact), and effects of braking. Because Δv is the area under the acceleration vs time curve, it combines force and duration and is a useful way to quantify impact severity. The article includes a table showing the results of a literature review that concluded, “the consensus of human subject research conducted to date is that a single exposure to a rear-end impact with a Δv of 5 mph or less is unlikely to result in injury” in most healthy, restrained occupants. Because velocity incorporates direction as well as speed, a vehicular occupant is less likely to be injured in a rear impact than when struck from the side. Evaluators must consider multiple factors, including the occupant's pre-existing physical and psychosocial status, the mechanism and magnitude of the collision, and a variety of biomechanical variables. Recommendations based solely on patient history and physical findings (and, perhaps, imaging studies) may be ill-informed.

scholarly journals Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Motion Control ◽  
Equations Of Motion ◽  
Dynamic Environments ◽  
Discrete State ◽  
Omnidirectional Mobile Robot ◽  
Planning And Control ◽  
Avoidance Strategy ◽  
And Performance

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.

scholarly journals Analysis of Vehicle Collision on an Assembled Anti-Collision Guardrail

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5152
Author(s):  
Juncheng Yao ◽  
Bo Wang ◽  
Yujie Hou ◽  
Liang Huang
Keyword(s):  
Working Conditions ◽  
Traffic Accidents ◽  
Analysis Software ◽  
Time Curve ◽  
Vehicle Collisions ◽  
Moving Vehicle ◽  
Vehicle Collision ◽  
New Type ◽  
Main Girder ◽  
Protective Performance

Traffic accidents such as vehicle collisions with bridge guardrails occur frequently. These accidents cause damage to the driver and the vehicle as well as the bridge. A new type of assembled anti-collision guardrail is proposed in this study. LS-DYNA is a nonlinear display dynamic analysis software used to evaluate the safety of a new type of assembled anti-collision guardrail. A specific, numerically analyzed model of vehicle–guardrail collision is established using LS-DYNA. The energy distribution–time curve of the vehicle collision process is obtained. After comparison with measured data from the vehicle collision test, the model of vehicle–guardrail collision is verified as being correct. Based on this, we analyze the process of a vehicle collision on the assembled anti-collision guardrail. The result shows that the assembled anti-collision guardrail proposed in this paper can better change the trajectory of a moving vehicle and can prevent the vehicle from falling off the bridge. From the car body collision results, the assembled anti-collision guardrail for bridges proposed in this paper can reduce vehicle damage and can protect the driver effectively. From the analysis of the main girder stress on the bridge, an anti-collision guardrail installed on an existing bridge will not cause damage to the main girder during a collision. In order to study the influence of the four parameters on the anti-collision effect, we carried out a comparative calculation of multiple working conditions. The results show that the new type of assembled anti-collision guardrail has good protective performance under different working conditions.

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

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Guo Lie ◽  
Ren Zejian ◽  
Ge Pingshu ◽  
Chang Jing
Keyword(s):  
Collision Avoidance ◽  
Controller Design ◽  
Sliding Mode ◽  
Vulnerable Groups ◽  
Control Effect ◽  
Longitudinal Dynamics ◽  
Emergency Braking ◽  
Collision Avoidance System ◽  
Braking Control ◽  
Single Neuron Pid

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.

Decreased Incidence of Rib Fractures in Pregnant Patients After Motor Vehicle Collisions

2021 ◽  
Vol 30 (5) ◽  
pp. 385-390
Author(s):  
Marissa Di Napoli ◽  
William B. DeVoe ◽  
Stuart Leon ◽  
Bruce Crookes ◽  
Alicia Privette ◽  
...  
Keyword(s):  
Chest Wall ◽  
Injury Severity ◽  
Motor Vehicle ◽  
Rib Fractures ◽  
Hormonal Changes ◽  
Motor Vehicle Collisions ◽  
Vehicle Collisions ◽  
Vehicle Collision ◽  
Chest Wall Injury ◽  
Wall Injury

Background Rib fractures are common after motor vehicle collisions. The hormonal changes associated with pregnancy decrease the stiffness and increase the laxity of cartilage and tendons. The effect of these changes on injury mechanics is not completely understood. Objectives To compare the incidences of chest wall injury following blunt thoracic trauma between pregnant and nonpregnant women. Methods The authors conducted a retrospective review of female patients seen at a level I trauma center from 2009 to 2017 after a motor vehicle collision. Patient characteristics were compared to determine if pregnancy affected the incidence of chest wall injury. Statistics were calculated with SPSS version 24 and are presented as mean (SD) or median (interquartile range). Results In total, 1618 patients were identified. The incidence of rib/sternal fracture was significantly lower in pregnant patients (7.9% vs 15.2%, P = .047), but the incidence of intrathoracic injury was similar between the groups. Pregnant and nonpregnant patients with rib/sternal fractures had similar Injury Severity Score results (21 [13-27] vs 17 [11-22], P = .36), but pregnant patients without fractures had significantly lower scores (1 [0-5] vs 4 [1-9], P < .001). Conclusions Pregnant patients have a lower rate of rib fracture after a motor vehicle collision than nonpregnant patients. The difference in injury mechanics may be due to hormonal changes that increase elasticity and resistance to bony injury of the ribs. In pregnant trauma patients, intrathoracic injury without rib fracture should raise concerns about injury severity. A multicenter evaluation of these findings is needed.

Integrated Steering and Braking Control System for Collision Avoidance by Using Virtual Repulsive Force Field Method

2018 ◽  
Author(s):  
Atsushi Yokoyama ◽  
Pongsathorn Raksincharoensak ◽  
Naoto Yoshikawa
Keyword(s):  
Force Field ◽  
Collision Avoidance ◽  
Autonomous Driving ◽  
Field Method ◽  
Repulsive Force ◽  
Driver Assistance Systems ◽  
Mass Model ◽  
Braking Control ◽  
And Control ◽  
Control Activation

Advanced Driver Assistance Systems (ADAS) and autonomous driving systems are being enhanced to deal with various types of collision avoidance use-case scenarios. To handle those complicated scenarios, a unified two-dimensional planar motion control methodology assuming virtual repulsive force from obstacles is introduced, which is physically interpretable and comprehensible. The direction and magnitude of virtual repulsive force are determined considering the orientation of obstacle surface planes and the friction limit between tires and road surface respectively. Applying the concept of virtual repulsive force field, the collision avoidance path can be derived from geometrical relationship and the control activation points can be obtained as algebraic solutions. By using a simple particle mass model, the formulation for path and control activation point is described. The simulation is conducted against not only in the case of a straight roadway but also in the case of a curve roadway. By designing feedforward and feedback controllers based on a two-wheel vehicle dynamics model, the effectiveness of the proposed method is verified and the feasibility of controller implementation for actual vehicle is also investigated.

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