Nondimensionalized Indices for Collision Avoidance Based on Optimal Control Theory

• Main Authors: Phuman Singh, Amrik Singh, Nishihara, Osamu
• Format: Conference or Workshop Item
• Language: English
• Published: 2016
• Subjects: TL Motor vehicles. Aeronautics. Astronautics
• Online Access: http://eprints.utem.edu.my/id/eprint/24375/1/F2016-VDCD-002.pdf; http://eprints.utem.edu.my/id/eprint/24375/; https://go.fisita.com/store/papers/FISITA2016/F2016-VDCD-002

Decision-making on whether a collision is avoidable and which maneuver is the best for a given situation is an essential part of the collision avoidance system. In this study, the nondimensionalized indices that enable computationally efficient estimation of the minimum distance required to realize the in-lane collision avoidance and time to collision are newly introduced. These indices take account of the relative longitudinal velocity, road surface conditions and terminal lateral distance. The use of these indices realizes the efficient selection of the effective maneuver and timing for intervention. Braking avoidance, steering avoidance and steering with braking avoidance are discussed with regard to nondimensionalization of the avoidance distance and time to collision. Numerical examples demonstrate the applications of these indices.