As an important part of the advanced driver assistance system (ADAS), the active emergency collision avoidance system can effectively reduce the incidence of accidents. Previously, static obstacle avoidance has been realized by employing piecewise polynomial path planning to improve vehicle stability. However, regarding moving obstacles, the collision avoidance problem becomes more intractable. To address the problem, a novel method based on the technical framework of piecewise polynomial path planning is proposed in this paper to conduct collision avoidance with moving obstacles. First, the Multivariate Gaussian Distribution model is adopted to estimate the velocity of the obstacle ahead, and the longitudinal motion trajectory of the obstacle is calculated. Then, the longitudinal length of the first target path is selected by the rule-based method. Moreover, yielding from the method for static obstacles, the collision avoidance algorithm for moving obstacles is proposed. Finally, the co-simulations are carried out in Simulink/CarSim, of which the results prove that the proposed method can avoid the moving obstacle effectively.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Emergency Collision Avoidance Method with Moving Obstacles Based on Piecewise Polynomial


    Additional title:

    Int.J Automot. Technol.


    Contributors:
    He, Wen (author) / Chen, Yong (author) / Liu, Gang (author) / Wu, Yitao (author) / Liu, Yonggang (author)

    Published in:

    Publication date :

    2023-08-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Short-term ASV Collision Avoidance with Static and Moving Obstacles

    Eriksen, Bjørn-Olav Holtung / Breivik, Morten | BASE | 2019

    Free access

    Collision avoidance of arbitrary polygonal obstacles

    SOMMER BRUNO M / WANG NORMAN N / ORIOL TIMOTHY R et al. | European Patent Office | 2017

    Free access

    Interference intention classification of moving obstacles used for USV collision avoidance

    Lifei Song / Hao Sun / Kaikai Xu et al. | DOAJ | 2022

    Free access

    Collision Avoidance Of Arbitrary Polygonal Obstacles

    SOMMER BRUNO M / WANG NORMAN N / ORIOL TIMOTHY R et al. | European Patent Office | 2016

    Free access