Deviating to the left on two-way roads can result in fatal head-on collisions. This article presents an intelligent decision-making and path-planning algorithm aimed at avoiding collision with a vehicle that has deviated from the opposing lane. The path-planning process utilizes the model predictive control (MPC) approach, employing a linear kinematic prediction model with a horizon of 2 seconds. Considering that the deviated vehicle may abruptly return to its original lane at any moment, its motion is associated with significant uncertainty. To address this challenge, the path-planning algorithm directs the ego vehicle (EV) under specific constraints to ensure that both the left and right sides of the road are symmetrically reachable in future time steps. This enables the decision-making algorithm to select the safer direction for evasive maneuver at the appropriate moment. The motion prediction of the threat vehicle (TV) is conducted until the potential collision time, taking into account its motion history, and is utilized in the decision-making process. Once the maneuver direction is determined, the collision-free path planning continues using the MPC method. To evaluate the algorithm, six simulations are conducted, modeling various distant and close encounter states of the vehicles on roads with left- and right-hand curves. The simulation results indicate the flexibility and appropriate performance of the algorithm in planning safe and maneuverable paths.


    Access

    Download


    Export, share and cite



    Title :

    Decision-Making and Path Planning for Head-On Collision Avoidance on Curved Roads


    Contributors:


    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    METHODS OF VEHICLE COLLISION AVOIDANCE ON CURVED ROADS AND VEHICLE COLLISION AVOIDANCE SYSTEM ON CURVED ROADS

    KIM BYEONG WOO / LEE JUNG EUN / KIM GYOUNG EUN | European Patent Office | 2022

    Free access

    Decision making for collision avoidance systems

    Jansson,J. / Johansson,J. / Gustafsson,F. et al. | Automotive engineering | 2002


    Decision making for collision avoidance systems

    Jansson, J. / Johansson, J. / Gustafsson, F. | Tema Archive | 2002


    Decision Making for Collision Avoidance Systems

    Gustafsson, Fredrik / Jansson, Jonas / Johansson, Jonas | SAE Technical Papers | 2002


    Ship collision avoidance decision-making method

    ZHANG JINFEN / ZENG YONG / ZHANG MINGYANG et al. | European Patent Office | 2020

    Free access