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Proceedings ArticleDOI

Development of a collision avoidance system

23 Feb 1998-Automotive engineering international (SAE International)-Vol. 106, Iss: 9, pp 1334-1340
TL;DR: In this article, the analysis of a rear-end collision warning/avoidance (CW/CA) system algorithm is presented, which is designed to meet several criteria: 1. System warnings should result in a minimum load on driver attention. 2. Automatic control of the brakes should not interfere with normal driving operation.
Abstract: The analysis of a rear-end collision warning/ avoidance (CW/CA) system algorithm will be presented. The system is designed to meet several criteria: 1. System warnings should result in a minimum load on driver attention. 2. Automatic control of the brakes should not interfere with normal driving operation.

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Citations
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Journal ArticleDOI
TL;DR: This paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation, and the impact of automation/warning systems on each of the above-mentioned factors.
Abstract: This paper looks into recent developments and research trends in collision avoidance/warning systems and automation of vehicle longitudinal/lateral control tasks. It is an attempt to provide a bigger picture of the very diverse, detailed and highly multidisciplinary research in this area. Based on diversely selected research, this paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation. Human factor studies and legal issues are analyzed as well as control algorithms. Drivers' comfort and well being, increased safety, and increased highway capacity are among the most important initiatives counted for automation. However, sometimes these are contradictory requirements. Relying on an analytical survey of the published research, we will try to provide a more clear understanding of the impact of automation/warning systems on each of the above-mentioned factors. The discussion of sensory issues requires a dedicated paper due to its broad range and is not addressed in this paper.

823 citations


Cites background from "Development of a collision avoidanc..."

  • ...Wilson [40] derived envelopes for determining brake timing for rear-end collision warning....

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  • ...They have reviewed the structure of the organizational activities across Europe, United States and Japan toward materialization of advanced highways, which can also be helpful for future decision-making in the related areas such as IVI....

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Journal ArticleDOI
TL;DR: In this article, a full-range adaptive cruise control (ACC) system with collision avoidance (CA) is proposed to improve drivers' comfort during normal, safe-driving situations and to completely avoid rear-end collision in vehicle-following situations.

276 citations

Proceedings ArticleDOI
07 Aug 2002
TL;DR: The novel elements of the system include the use of a dynamic ad hoc wireless network for peer-to-peer data sharing, a new intersection collision warning algorithm, and a flexible and extensible software architecture and system design.
Abstract: A cooperative vehicle collision warning system is made possible by the progress in advanced positioning systems and wireless communication technology. We report our work in developing a cooperative intersection collision warning system that is not limited by the requirement of line-of-sight. The novel elements of the system include the use of a dynamic ad hoc wireless network for peer-to-peer data sharing, a new intersection collision warning algorithm, and a flexible and extensible software architecture and system design. The very same system is also capable of collision warning for other scenarios such as frontal and rear-end. Further, the tunable parameters in the algorithm make it possible for the system to adapt to the preference and capability of each individual driver.

243 citations


Cites background from "Development of a collision avoidanc..."

  • ...A system that gives excessive warning may either desensitize the driver [9], causing future warnings to be ignored; or distract the driver [10], [11], [12]....

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  • ...Many forward collision warning criteria developed by other researchers [1], [9], [13], [14] could be tested using this system....

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Journal ArticleDOI
TL;DR: A model-based algorithm that estimates how the driver of a vehicle can either steer, brake, or accelerate to avoid colliding with an arbitrary object and is computationally efficient and can be used to assist the driver in avoiding or mitigating collisions with all types of road users in all kinds of traffic scenarios.
Abstract: This paper presents a model-based algorithm that estimates how the driver of a vehicle can either steer, brake, or accelerate to avoid colliding with an arbitrary object. In this algorithm, the motion of the vehicle is described by a linear bicycle model, and the perimeter of the vehicle is represented by a rectangle. The estimated perimeter of the object is described by a polygon that is allowed to change size, shape, position, and orientation at sampled time instances. Potential evasive maneuvers are modeled, parameterized, and approximated such that an analytical expression can be derived to estimate the set of maneuvers that the driver can use to avoid a collision. This set of maneuvers is then assessed to determine if the driver needs immediate assistance to avoid or mitigate an accident. The proposed threat-assessment algorithm is evaluated using authentic data from both real traffic conditions and collision situations on a test track and by using simulations with a detailed vehicle model. The evaluations show that the algorithm outperforms conventional threat-assessment algorithms at rear-end collisions in terms of the timing of autonomous brake activation. This is crucial for increasing the performance of collision-avoidance systems and for decreasing the risk of unnecessary braking. Moreover, the algorithm is computationally efficient and can be used to assist the driver in avoiding or mitigating collisions with all types of road users in all kinds of traffic scenarios.

227 citations

Journal ArticleDOI
TL;DR: In this article, a vehicle adaptive cruise control (ACC) algorithm design with human factors considerations is presented, where the goal of the control algorithm is to achieve naturalistic behaviour of the controlled vehicle that would feel natural to the human driver in normal driving situations and to achieve safe vehicle behaviour in severe braking situations in which large decelerations are necessary.
Abstract: This paper presents a vehicle adaptive cruise control algorithm design with human factors considerations Adaptive cruise control (ACC) systems should be acceptable to drivers In order to be acceptable to drivers, the ACC systems need to be designed based on the analysis of human driver driving behaviour Manual driving characteristics are investigated using real-world driving test data The goal of the control algorithm is to achieve naturalistic behaviour of the controlled vehicle that would feel natural to the human driver in normal driving situations and to achieve safe vehicle behaviour in severe braking situations in which large decelerations are necessary A non-dimensional warning index and inverse time-to-collision are used to evaluate driving situations A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC system Using a simulation and a validated vehicle simulator, vehicle following characteristics of the controlled vehicle are compared with real-world manual driving radar sensor data It is shown that the proposed control strategy can provide with natural following performance similar to human manual driving in both high speed driving and low speed stop-and-go situations and can prevent the vehicle-to-vehicle distance from dropping to an unsafe level in a variety of driving conditions

175 citations


Cites background from "Development of a collision avoidanc..."

  • ...Most collision warning/collision avoidance (CW/CA) systems in existence use a similar algorithm based on braking critical distance and warning critical distance [25, 28]....

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References
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Journal ArticleDOI
TL;DR: In this paper, an observer-based least square method and an observer/filtered-regressor-based method were proposed for identifying the tire-road friction coefficient, where the observer is used to estimate signals which are difficult or expensive to measure.
Abstract: This paper presents methods for identifying the tire-road friction coefficient. The proposed methods are: an observer-based least square method and an observer/filtered-regressor-based method. These methods were designed assuming that some of the states are not available since physical parameter identification methods developed assuming that the system states are available are not attractive from a practical point of view. The observer is used to estimate signals which are difficult or expensive to measure. Using the estimated states of the system and the filtered-regressor, the parameter estimates are obtained. The proposed methods are evaluated on an eight state nonlinear vehicle/transmission simulation model with a Bakker-Pacejka's formula tire model. Vehicle tests have been performed on dry and wet roads to verify the performance of the methods. It has been shown through simulations and vehicle tests how the RPM sensors can be used with observer based identification methods to estimate the tire-road f...

145 citations

Journal ArticleDOI
Ayumu Doi1, Tetsuro Butsuen1, Tadayuki Niibe1, Takeshi Takagi1, Yasunori Yamamoto1, Hirofumi Seni1 
TL;DR: In this paper, a rear-end collision avoidance system with automatic brake control is described, which avoids a collision to the vehicle in front caused by inadvertent human errors using automatic emergency braking.
Abstract: We have studied active safety technologies from the standpoint of “collision avoidance”. This paper describes a rear-end collision avoidance system with automatic brake control, which avoids a collision to the vehicle in front caused by inadvertent human errors using automatic emergency braking. The system is comprised of four key technological elements, headway distance measurement using scanning laser radar, path estimation algorithm with vehicle dynamics, collision prediction to the vehicle in front by a safe/danger decision algorithm, and longitudinal automatic brake control.

116 citations


"Development of a collision avoidanc..." refers methods in this paper

  • ...Mazda's algorithm uses the following braking critical distance definition [ 4 ]:...

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Journal ArticleDOI
01 Oct 1992
TL;DR: Warning signal effectiveness issues associated with the design of a front-to-rear-end collision warning system are discussed and four design concepts are considered, including a graded sequence of warnings and an individualization of warnings.
Abstract: Warning signal effectiveness issues associated with the design of a front-to-rear-end collision warning system are discussed. Potential negative effects are that warnings may occur rarely, startlin...

91 citations

Journal ArticleDOI
TL;DR: In this article, a new concept of radar brake system with an automatic braking function is reported, which consists of three key technologies: (1) Scanning laser radar sensor; (2) Algorithm for judging potentiality of collision; (3) Control-by-wire brake system.
Abstract: This paper reports on a new concept of radar brake system with an automatic braking function. Similar systems developed for collision-avoidance have been reported. Their method of operation is based on the timing required to avoid collisions solely by braking function. However, the distance between two cars that is required to avoid collision by using steering is shorter than that required by braking alone. Thus, a serious unresolved problem is the driver's sense that the braking function alone can lead to inappropriate timing. For instance, in the case where the driver recognizes an on-coming obstacle and is able to avoid it by using steering, the system operates prior to his action and the driver is disturbed. This system consists of three key technologies: (1) Scanning laser radar sensor; (2) Algorithm for judging potentiality of collision; (3) Control-by-wire brake system.

76 citations

01 Jan 1995
TL;DR: In this article, a new concept of radar brake system with an automatic braking function is reported, which consists of three key technologies: (1) Scanning laser radar sensor; (2) Algorithm for judging potentiality of collision; (3) Control-by-wire brake system.
Abstract: This paper reports on a new concept of radar brake system with an automatic braking function. Similar systems developed for collision-avoidance have been reported. Their method of operation is based on the timing required to avoid collisions solely by braking function. However, the distance between two cars that is required to avoid collision by using steering is shorter than that required by braking alone. Thus, a serious unresolved problem is the driver's sense that the braking function alone can lead to inappropriate timing. For instance, in the case where the driver recognizes an on-coming obstacle and is able to avoid it by using steering, the system operates prior to his action and the driver is disturbed. This system consists of three key technologies: (1) Scanning laser radar sensor; (2) Algorithm for judging potentiality of collision; (3) Control-by-wire brake system.

33 citations


"Development of a collision avoidanc..." refers background or methods in this paper

  • ...Honda's algorithm uses the following warning critical distance definition [ 3 ]:...

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  • ...A driver who is attempting an avoidance maneuver, such as steering, may be startled and possibly lose vehicle control if the system automatically applies the brakes [ 3 ]....

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