Collision avoidance system for fixed obstacles-fuzzy controller network for robot driving of an autonomous vehicle

2002 ◽  
Author(s):  
U. Lages
Keyword(s):  
Collision Avoidance ◽  
Fuzzy Controller ◽  
Autonomous Vehicle ◽  
Collision Avoidance System

Experimental Vehicle That Avoids Collisions Through Steer by Wire and Differential Drive Systems

2011 ◽  
Author(s):  
Victor J. Gonzalez-Villela ◽  
Eduardo U. Gonzalez-Zavala
Keyword(s):  
Collision Avoidance ◽  
High Speed ◽  
Autonomous Vehicle ◽  
Infrared Sensors ◽  
Differential Drive ◽  
Steer By Wire ◽  
Experimental Vehicle ◽  
Collision Avoidance System ◽  
Drive Systems ◽  
Wire System

The implementation of Drive-by-Wire systems is increasing due to their advantages. One of these advantages is the capability to be autonomous or semiautonomous. This paper investigates the collisions avoidance in a Steer-by-Wire and Differential Drive experimental vehicle. The Steer-by-Wire system is tested using the Ackerman formulation. Ackerman equations are modified in order to vary the vehicle’s steering ratio in function of the vehicle’s speed. As a result, better high speed vehicle’s control is achieved. The collision avoidance system works using infrared sensors around the vehicle, avoiding frontal and lateral collision. The distance to the obstacles is the parameter selected to avoid collisions (leaving the time for other actions like warnings to the driver). The fusion of the Autonomous Steer-by-Wire and the collisions avoidance system develops a semi-autonomous vehicle. This vehicle avoids collisions automatically, even if the driver does not avoid the collisions by himself, greatly reducing the probability of accidents.

scholarly journals Driving and steering collision avoidance system of autonomous vehicle with model predictive control based on non-convex optimization

2021 ◽  
Vol 13 (6) ◽  
pp. 168781402110276
Author(s):  
Yuho Song ◽  
Kunsoo Huh
Keyword(s):  
Convex Optimization ◽  
Collision Avoidance ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Lane Changes ◽  
Vehicle Communication ◽  
Rapid Control ◽  
Rapid Control Prototyping ◽  
Predictive Controller ◽  
Collision Avoidance System

A planar motion control system is proposed for autonomous vehicles not only to follow the lanes, but also to avoid collisions by braking, accelerating, and steering. The supervisor is designed first to determine the desired speed and the risk of the maneuvering due to road boundaries and obstacles. In order to allow lane changes on multi-lane roads, the model predictive controller is formulated based on the probabilistic non-convex optimization. The micro-genetic algorithm is applied to calculate the target speed and target steering angle in real time. A software-in-the-loop unit is constructed with the Rapid Control Prototyping device in the vehicle communication environment. The performance of the proposed system is verified for various collision avoidance scenarios and the simulation results demonstrate the safe and effective driving performance of autonomous vehicles with no collision on multi-lane road.

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