This research proposes a driver obstacle avoidance assistance control algorithm. In this algorithm, Time to Collision (ToC) is calculated using relative motion between the vehicle and the frontal obstacle to justify the occurrence of collision. Consequently, a desired avoidance trajectory is generated for the controller to follow. Then, a feedforward and feedback control algorithm generates appropriate steering wheel angle with respect to the desired trajectory. Finally, the real steering wheel angle is a weighted function between the controller steering angle and driver steering angle. Therefore, the controller works as a compensator to the driver driving. In this research, the degree of intervention depends on the driver condition; worse physical condition requires more intervention. For the control algorithm, feedforward law is derived using the steady state dynamics relation and the feedback law is obtained using optimal control theory to achieve minimum intervention to the driving. Simulation results show that the control algorithm functions successfully under various driver conditions. Even under significant intervention, the dynamics are still under safety region.
A driver obstacle avoidance assistance control algorithm
2008
5 Seiten, 4 Bilder, 11 Quellen
Conference paper
English
OBSTACLE AVOIDANCE CONTROL METHOD AND DEVICE, ADVANCED DRIVER-ASSISTANCE SYSTEM, VEHICLE, AND MEDIUM
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