This paper addresses the onboard prediction of a motor vehicle's path to help enable a variety of emerging functions in autonomous vehicle control and active safety systems. It is shown in simulation that good accuracy of path prediction is achieved using numerical integration of a linearized two degree of freedom vehicle handling model. To improve performance, a steady-state Kalman filter is developed to estimate the vehicle's lateral velocity and the magnitudes of external disturbances acting on the vehicle, specifically the lateral force and the yaw moment disturbances. A comparison is made between three models of external disturbance time variation; a piecewise-constant-in-time model is found to be sufficient. Finally, an algorithm is proposed to characterize path prediction uncertainty using a statistical characterization of the measurement and modeling errors. Simulation suggests that these algorithms may provide a useful suite of path prediction tools for a variety of applications.

Vehicle dynamics and external disturbance estimation for vehicle path prediction

A perspective view of of Japanese R&D activities of Driver Information Systems is given from the standpoint of developing joint projects by public and private sectors. First, a brief history of the R&D activities is illustrated from above mentioned standpoint. Then, two major projects, AMTICS and RACS, and the social backgrounds of these projects are explained. In order to give a clear idea of both projects some technical details are treated.

Japanese perspective of driver information systems

Presents a technical explanation of the specific procedure used in designing an automotive laser radar system. Laser radar represents an effective collision avoidance technology that can contribute to improved vehicle and traffic safety. An analysis is given of the problems involved in the practical application of laser radar and ways of overcoming them. The future prospects for automotive laser radar are also discussed. >

Design method for an automotive laser radar system and future prospects for laser radar

An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Ha...

Design and Hardware-In-Loop Implementation of Collision Avoidance Algorithms for Heavy Commercial Road Vehicles

This paper discusses the development of a Kalman filter to simultaneously estimate the lateral velocity of and the external disturbances acting on a vehicle for the purpose of future vehicle path prediction. Simulation results show that with the estimation, the future vehicle path prediction is significantly improved. The need for adaptation of the Kalman filter gain is also investigated. The results show that a fixed Kalman filter gain which is designed for typical highway driving is quite adequate. However, the adaptation of the Kalman filter gain is needed when the vehicle encounters a relatively tight curve.

Vehicle dynamics and external disturbance estimation for future vehicle path prediction

This paper describes a collision avoidance warning system. The system uses a laser radar sensor to detect distance and a microcomputer to both assess the risk of a rear-end collision and provide warnings in dangerous situations. The system also has an unnecessary warning suppression feature. A test of the system also showed a low false alarm rate.

Tohru Yasuma

Papers

A collision-avoidance warning system using laser radar

The first practical application of a laser radar rear-end collision warning system in production heavy-duty trucks