Showing papers on "Collision avoidance system published in 2008"

Multi-Sensor-Based Fully Autonomous Non-Cooperative Collision Avoidance System for Unmanned Air Vehicles

Abstract: This paper presents a fully autonomous multi-sensor anti-collision system for Unmanned Aerial Vehicles. This system is being developed by the Italian Aerospace Research Center in collaboration with the Department of Aerospace Engineering of the University of Naples “Federico II”. The research project is entitled TECVOL and is funded in the frame of the National Aerospace Research Program. The system prototype will be initially installed onboard a manned laboratory aircraft equipped for automatic control, therefore flight tests will verify the adequacy of attained performances for supporting fully autonomous flight. The obstacle detection and tracking function is performed by a multi-sensor configuration made up by a pulsed Ka-band radar, two visible (panchromatic and color) video cameras, two infrared video cameras, and two computers. One computer is dedicated to real time sensor fusion and communication with the radar and the flight control computer (by means of a deterministic data bus), the other is devoted to image processing. On the basis of the tracking estimates and of a Collision Avoidance Software, the flight control computer generates and follows in real-time a proper escape trajectory. In order to evaluate the performance of the collision avoidance system, numerical simulations have been performed taking into account the obstacle detection sensors’ accuracy, unmanned aircraft’s and intruder’s flight dynamics, navigation system accuracy and latencies, and collision avoidance logic. The relevant results helped to assess overall system performances and are discussed in depth.

Vehicle collision avoidance system

Abstract: A collision avoidance system for a machine is disclosed. The collision avoidance system has a first obstacle detection system. The first obstacle detection system is configured to detect a first obstacle and generate a corresponding first signal. Additionally, the collision avoidance system has an operator interface. The operator interface has a display configured to communicate visual information to an operator. In addition, the collision avoidance system has an interface module configured to detect a status of the machine and generate a corresponding second signal. The collision avoidance system also has a controller. The controller is in communication with the first obstacle detection system, the operator interface, and the interface module. The controller is configured to control the display to indicate a dangerous obstacle detection to the operator, based on the first and second signals. Additionally, the controller is configured to control the display to provide a dangerous obstacle warning to the operator, based on the first and second signals.

Collision Avoidance for Unmanned Surface Vehicles

Abstract: Considerable progress has been achieved in recent years with respect to autonomous vehicles. A good example is the DARPA Grand Challenge, a competition for autonomous ground vehicles. None of the competing vehicles managed to complete the challenge in 2004, but returning in 2005, a total of five vehicles were successful. Effective collision avoidance is a requirement for autonomous navigation, and even though much progress has been done, it still remains an open problem. The focus of this thesis is on the development of a collision avoidance system for unmanned surface vehicles (USVs), which is compliant with the International Regulations for Avoiding Collisions at Sea (COLREGS). The system is based on a modified version of the Dynamic Window algorithm, taking both acceleration and lateral speeds into account for reactive collision avoidance. Path planning is provided by the Rapidly-Exploring Random Tree (RRT) algorithm, extended to use the A* algorithm as a guide, which significantly increases its efficiency. Extensive simulations have been performed in order to determine the value of the modifications done to the original algorithms, as well as the performance of the total control system. Full-scale experiments have also been carried out in an attempt to verify the results from the simulations. The collision avoidance system performed very well during the simulations, finding near-optimal paths through the environment and evading other vessels in a COLREGS-compliant fashion. In the full-scale experiments, important sensor data was erroneous, resulting in reduced avoidance margins. However, the collision avoidance system still kept the controlled vessel safe, showing significant robustness.

Cooperative Intersection Collision Avoidance System Limited to Stop Sign and Traffic Signal Violations

Abstract: This report presents the Midterm Phase I Report for the Cooperative Intersection Collision Avoidance System Limited to Stop Sign and Traffic Signal Violations (CICASV) project. The report covers the period from project inception on May 1, 2006, through April 30, 2007, and contains a summary of the tasks that were active during the first year of the project. These tasks, collectively, address four major elements of the research needed to develop an FOT-ready system by the end of Phase I. These elements are: (a) human factors research to identify a driver-vehicle interface (DVI) for the CICAS-V system and the operational parameters for the driver warning algorithm; (b) systems engineering activities to design the CICAS-V system; (c) system development and validation tasks to build and test a prototype FOT system; and (d) project management and coordination with outside organizations. The progress made during the period and the accomplishments achieved are also described in the report. The CICAS-V project is a four-year project to develop a cooperative intersection collision avoidance system to assist drivers in avoiding crashes in the intersection by warning the driver of an impending violation of a traffic signal or a stop sign. The Vehicle Safety Communications 2 Consortium (VSC2) is executing the project. Members of VSC2 are Ford Motor Company, General Motors Corporation, Honda R & D Americas, Inc., Mercedes-Benz Research and Development North America, Inc., and Toyota Motor Engineering & Manufacturing North America, Inc.

Collision avoidance system based on detection of obstacles in blind spots of vehicle

Abstract: The present invention relates to a collision avoidance system based on the detection of obstacles (e.g., other vehicles and obstructive objects) in the blind spots of a vehicle. The collision avoidance system includes: a turn signal lamp detector for detecting an activation of a turn signal lamp of the vehicle; a charge-coupled device (CCD) camera for capturing an image for a road environment, outputting the captured image as road environment data, and measuring a winding or curvature degree of a current road; a steering angle detector for detecting a steering angle of the vehicle and outputting a resulting signal as a steering angle signal; an infrared sensor for transmitting or receiving infrared light to or from an obstacle present in a blind spot of the vehicle, and outputting an obstacle detection signal; a warning device configured to warn the possibility of collision between the obstacle and the vehicle to a driver; and a controller configured to operate the warning device upon detection of the activation of the turn signal lamp by the turn signal lamp detector, followed by activation of the infrared sensor to determine presence of an obstacle in the blind spot, the controller further configured to operate the warning device upon detection of a progress of lane change based on comparison between the road environment data and the steering angle signal output, followed by activation of the infrared sensor to determine presence of an obstacle in the blind spot.

Collision avoidance system and method

Abstract: A collision avoidance system for use with an unmanned vehicle, the system includes a plurality of radar elements arranged parallel to the longitudinal axis of the unmanned vehicle wherein said radar elements transmit a plurality of pulses about said vehicle and receive a plurality of return signals from one or more objects within range of said vehicle. Upon detecting that one or more objects within range of said vehicle the system determines if the object is on a course with requires evasive action and suitably alters the vehicle's course in order to avoid a collision.

Systems and methods for air traffic surveillance

Abstract: A collision avoidance system according to one aspect of the present invention comprises a user interface, a plurality of sensors, and a computer system in communication with the user interface and the plurality of sensors. The computer system includes a processor and a memory storing instructions that, when executed by the processor, cause the processor to receive data pertaining to a target from one or more sensors of the plurality of sensors, determine a position of the target based on the data from the one or more sensors, and present (through the user interface) the position of the target using one or more visual indicators that identify the one or more sensors.

Systems and methods for multi-sensor collision avoidance

Abstract: An embodiment of the present invention provides a collision avoidance system for a host aircraft comprising a plurality of sensors for providing data about other aircraft that may be employed to determine one or more parameters to calculate future positions of the other aircraft, a processor to determine whether any combinations of the calculated future positions of the other aircraft are correlated or uncorrelated, and a collision avoidance module that uses the correlated or uncorrelated calculated future positions to provide a signal instructing the performance of a collision avoidance maneuver when a collision threat exists between the host aircraft and at least one of the other aircraft.

A flexible hierarchical model-based control methodology for vehicle active safety systems

Abstract: A hierarchical control scheme is applied to the problem of integrated chassis control of a collision avoidance system (CAS). This includes both lateral and longitudinal control, using Active Front Steer in addition to the brake actuators. The inherent flexibility of the control system is provided by the intermediate layer, which employs a form of model predictive control to determine actuator apportionment. The desired vehicle motions in the upper layer, in the form of reference yaw rate and two-dimensional mass center accelerations, are determined using a kinematic policy (KP) for collision avoidance. The KP uses simple information about range and azimuth angles for multiple points that bound the available vehicle trajectory, and prioritises yaw motion response based on the worst case collision threat. This KP approach for CAS is more practical than trajectory tracking approaches because the KP does not need a pre-defined a reference path and does not need any computationally intensive optimisation of the vehicle motion control.

Intersection Collision Avoidance System Architecture

Abstract: In this preliminary paper we propose new intersection collision avoidance architecture. This system allows vehicles to establish secure links with roadside unit installed at the intersection before entering the furthest point where vehicles start to share their current state with the roadside unit. Early link establishment is chosen to maximize the opportunity of advanced notification for collision warnings.

A New Method of Planning Collision Avoidance Manoeuvres for Multi-Target Encounter Situations

Abstract: In this paper the author introduces a new method of collision avoidance for multi-target encounters. The method combines the qualities of a sequence of necessary manoeuvres with some optimisation elements and supports any given ship domain. First the problem of determining the optimal course alteration manoeuvre for given ship domain model and multi-target encounter situation is solved. The solution consists of analytical formulas and numerical algorithms combined to achieve low computational complexity. Then this solution is further used to construct a method of planning ship trajectories, which are safe, economic and intuitive for navigators. Example scenarios and the resulting trajectories are also provided. All of the algorithms, formulas and their derivations in the text are presented explicitly, so that they could be directly applied in any collision avoidance system.

A Reliable Surveillance Strategy for Autonomous Rail Collision Avoidance Systems

Abstract: In this paper we present a detailed surveillance strategy concept for a Rail Collision Avoidance System (RCAS) that is based on direct train-to-train communication. Similar to existing systems in air and maritime transport, the RCAS approach allows vehicle autonomous detection of imminent collisions. Designed as a safety overlay system it shall warn and advise train drives in such cases. Apart from an onboard localization unit, which relies on satellite navigation signals, the system architecture does not require any other infrastructure. We will define the content of the broadcasted messages, which shall allow each railway vehicle to assess the traffic situation in its vicinity under all operational conditions. Furthermore a variable transmission rate of messages ensures both, timely warning and an efficient use of communication channel resources in different scenarios like e.g. on regional network lines or in large shunt yards.

Obstacle detection with a Photonic Mixing Device-camera in autonomous vehicles

Abstract: In autonomous vehicles as well as in modern driver assistance systems, obstacle detection shows to be the most important task to be achieved This paper presents a collision avoidance system, based on a modern Time-Of-Flight camera These cameras allow a 3D perception of the environment, in which obstacles can be detected, independent of special features Thus, the system is capable of all kinds of objects, including pedestrians as well as bicycles or vehicles The used Photonic Mixing Device (PMD) camera has a measurement range of up to 50 m The system is integrated into an autonomous vehicle, on which detected obstacles are investigated in detail The vehicle steering commands are then generated by a behaviour network, depending on the presence of obstacles in the driving lane

UAS Collision Encounter Modeling and Avoidance Algorithm Development for Simulating Collision Avoidance

Abstract: 3Collision encounter modeling and simulation tools are developed for analyzing and evaluating unmanned aerial vehicle collision avoidance systems. All of the necessary components of a collision avoidance system simulation-based evaluation in three dimensions are discussed, including encounter trajectory generation for many collision scenarios, detection algorithms, and avoidance algorithms. The encounter trajectory generator uses statistical parameters for aircraft performance and maneuvers and statistical scenario parameters that create many diverse encounters in short order. Detection algorithms consist of a geometric sensor model, the collision cone approach, and a prioritization scheme that detect and determine the collision potential between the unmanned aircraft and multiple threat aircraft. Avoidance algorithms consist of proportional navigation guidance that uses information from the collision cone algorithm to command three dimensional avoidance maneuvers. Simulation results are provided to demonstrate the utility of the tools for collision avoidance system evaluations, and to demonstrate the effectiveness of the proposed algorithms. Simulation component interfaces are discussed to promote compatibility with many proposed algorithms and other evaluation tools.

California Intersection Decision Support: A Driver-Centered Approach to Left-Turn Collision Avoidance System Design

Abstract: This report focuses on two human factors studies which used an instrumented research vehicle to study driver behavior while making left turns The first study focused on observing drivers’ intersection approaches and left-turn maneuvers in a mostly naturalistic setting The instrumented vehicle recorded driver actions, such as approach speed, brake activation, steering inputs, and limited estimates of oncoming vehicle gap (and lag) acceptance The second study examined left-turn gap (or lag) acceptance in an environment where gaps could be more accurately measured and tightly controlled It also introduced drivers to the concept of a left-turn Driver Infrastructure Interface (DII), a dynamic, no-left-turn sign, warning signThe vehicle approaches were timed to test the effects of different DII settings such as warning threshold onset timing on gap (lag) acceptance

Road Intersections as Pervasive Computing Environments: Towards a Multiagent Real-Time Collision Warning System

Abstract: Embedded with sensors and appropriate computational entities, a road intersection can be viewed as a pervasive computing environment. The crash rate in road intersections demonstrates the need for a fast and accurate collision detection system. We suggest that an intersection collision detection system should be able to adapt to different types of intersections for faster collision detection. Moreover, a real-time application-level communication protocol to warn affected drivers is required. An intersection agent that takes vehicular status information from vehicle agents and learns, detects and warns collisions at a road intersection is proposed. The issues, challenges, and cost of a multiagent collision avoidance system are discussed. A communication protocol that is designed specifically with intersection safety in mind is presented here.

Planned Route Based Negotiation for Collision Avoidance Between Vessels

Abstract: Automatic vessel collision-avoidance systems have been studied in the fields of artificial intelligence and navigation for decades. And to facilitate automatic collision-avoidance decision-making in two-vessel-encounter situation, several expert and fuzzy expert systems have been developed. However, none of them can negotiate with each other as seafarers usually do when they intend to make a harmonious and more economic overall plan of collision avoidance in the COLREGS-COST-HIGH situations where collision avoidance following the International Regulations for Preventing Collisions at Sea(COLREGS) costs too much. A negotiation framework was put forward in our previous research to enable vessels to negotiate for optimizing collision avoidance in the COLREGS-COST-HIGH situations at open sea. In this paper, the negotiation framework is improved by considering the planned route of both vessels. The simulation results show that more economic overall plan of collision avoidance may be achieved by the improved framework when one or both parties deviate from their planed route or are approaching their next way points. 1 GENERAL INTRODUCTION Automatic vessel collision-avoidance systems have been studied in the fields of artificial intelligence and navigation for decades. And to facilitate automatic collision-avoidance decision-making in two-vessel-encounter situation, several expert and fuzzy expert systems (Chengneng, H. 2002, Coenen, F. et al. 1980, Hanjin, L. et al. 2001, 1993, Hasegawa, K. et al.1989, Iwasaki, H. et al. 1986, Koyama, T. et al. 1987, Saburo,T. et al. 1987) have been developed. However, none of them can negotiate with each other as seafarers usually do when they intend to make a harmonious and more economic overall plan of collision avoidance in the COLREGS-COST-HIGH situations where collision avoidance following the International Regulations for Preventing Collisions at Sea(COLREGS) (Leo, P. 1979) costs too much. A negotiation framework was put forward in our previous research (Qinyou, H. et al. 2006a, b) to enable vessels to negotiate for optimizing overall collision avoidance plan in the COLREGS-COST-HIGH situations at open sea. Planned routes of both vessels, however, were not considered in our previous work. As a result, better overall collision-avoidance might not be achieved when one or both vessels deviate from their planed route or are approaching their next way points. In this paper, we have involved the planned route information in the negotiation framework. That is to say, when vessels are not proceeding on their planned route or are approaching the next way points, they would prefer to return to their planned route or to navigate on the new course line easily at the next way points when they take collisionavoidance action. Therefore, taking the vessel’s planned route information into consideration when they are negotiating will enable them to achieve a better action plan to avoid collision. This paper is organized as follows: Section 2 briefs our previous work, i.e. the CANFO

Embedded weather adaptive lane and vehicle detection system

Abstract: In this paper, the lane and vehicle detection with distance estimation algorithm is proposed by using a CCD camera mounted behind the windshield of our experimental car, TAIWAN iTS-1. The gray level and gradient value are applied for the lane marking detection. The lane marking information is utilized in vehicle detection algorithm. The front vehicles are recognized by comparing the gray level value and Sobel edge pixels. Then, the image coordinate model is utilized for the distance estimation with the located approaching vehicles. The verified effective distance is 50 m in front of the host vehicle. This approach has been successfully implemented on the DSP system which is designed by us for the real-time detection. This system will be integrated into the lane departure warning and collision avoidance system with the visual and audio alerts to warn the careless drivers.

Exploration of new algorithms for airborne collision detection and avoidance to meet NextGen capabilities

Abstract: As the aviation community moves toward the next generation air transportation system (NextGen), current airborne collision avoidance technology may become inadequate. The traffic alert and collision avoidance system (TCAS) was developed some time ago, and its ability to accommodate the air-to-air applications and air traffic control (ATC) procedures that are envisioned for NextGen is limited. There is a need to analyze the role of future NextGen technologies such as automatic dependent surveillance-broadcast (ADS-B) in the overall collision avoidance concept and architecture. This paper will describe a MITRE research effort addressing the following three fundamental research questions: What are the desired NextGen operations that are incompatible with current TCAS? What new enabling technologies and design principles could meet the NextGen needs? What are the key functional needs that ensure enhancements and modifications do not detract from safety-the primary function of the collision avoidance system? In this paper we will discuss the technical approach applied to the research, and identify projected TCAS limitations in meeting future air-to-air applications and ATC procedures.

Hierarchical, Hybrid Framework for Collision Avoidance Algorithms in the National Airspace

Abstract: In this paper, a hierarchical, hybrid framework is proposed for representing and analyzing the interaction of multiple aircraft operating under dierent collision avoidance and separation assurance regimes. The model is broken down by the three dierent collision avoidance regimes: immediate collision avoidance, midterm collision avoidance and separation assurance. These schemes are classied by the time scale in which they operate. Even though each collision avoidance scheme is independently safe, when they are combined the entire system can become unsafe. In this paper, backwards reachable sets are used to analyze the interaction between the immediate and midterm collision avoidance schemes resulting in provable safety conditions. The vertical reachable set is also used to analyze the Trac Alert and Collision Avoidance System (TCAS), a specic immediate collision avoidance scheme.

Development of a vehicle dynamics controller for obstacle avoidance

Abstract: As roads become busier and automotive technology improves, there is considerable potential for driver assistance systems to improve the safety of road users. Longitudinal collision warning and collision avoidance systems are starting to appear on production cars to assist drivers when required to stop in an emergency. Many luxury cars are also equipped with stability augmentation systems that prevent the car from spinning out of control during aggressive lateral manoeuvres. Combining these concepts, there is a natural progression to systems that could assist in aiding or performing lateral collision avoidance manoeuvres. A successful automatic lateral collision avoidance system would require convergent development of many fields of technology, from sensors and instrumentation to aid environmental awareness through to improvements in driver vehicle interfaces so that a degree of control can be smoothly and safely transferred between the driver and vehicle computer. A fundamental requirement of any collision avoidance system is determination of a feasible path that avoids obstacles and a means of causing the vehicle to follow that trajectory. This research focuses on feasible trajectory generation and development of an automatic obstacle avoidance controller that integrates steering and braking action. A controller is developed to cause a specially modified car (a Mercedes `S' class with steer-by-wire and brake-by-wire capability) to perform an ISO 3888-2 emergency obstacle avoidance manoeuvre. A nonlinear two-track vehicle model is developed and used to derive optimal controller parameters using a series of simulations. Feedforward and feedback control is used to track a feasible reference trajectory. The feedforward control loops use inverse models of the vehicle dynamics. The feedback control loops are implemented as linear proportional controllers with a force allocation matrix used to apportion braking effort between redundant actuators. Two trajectory generation routines are developed: a geometric method, for steering a vehicle at its physical limits; and an optimal method, which integrates steering and braking action to make full use of available traction. The optimal trajectory is obtained using a multi-stage convex optimisation procedure. The overall controller performance is validated by simulation using a complex proprietary model of the vehicle that is reported to have been validated and calibrated against experimental data over several years of use in an industrial environment.

Operating motor vehicle collision avoidance system involves estimating width of object entering vicinity of vehicle in rest mode, inhibiting output of warning information if estimated width is below defined threshold

Abstract: The collision avoidance system has a device for detecting objects (2,3) in the vehicle's (1) surroundings and a warning device for outputting warnings depending on the available free space to the driver in normal mode or externally if the vehicle is parked in rest mode. In rest mode the width of an object coming into the vicinity of the vehicle is estimated and the output of warning information is inhibited if the estimated width is below a defined threshold.

Selection of operational criteria for a collision avoidance system

Abstract: In fallback situations as well as in construction sites collisions between rail vehicles are one of the major common accident causes. Common interlocking and train control systems support undisturbed operation. The GALILEO programme is Europe’s initiative to develop a civil global navigation satellite system that provides highly accurate and reliable positioning, navigation and timing services. GALILEO will provide real-time positioning services at the metre level as a result of improved orbits, better clocks, dual frequency and enhanced navigation algorithms as well as integrity information. For safety of life (SoL) applications, local elements can be integrated to provide more accurate positioning, communication and/or information services. For example, GALILEO Local Elements will be developed and adapted to meet specific requirements in rail transportation. This allows also for a modernization of automatic train control technology. This is advisable because of the still existing collisions between trains or other kinds of obstacles (construction vehicles, construction workers, pedestrians), even if comprehensive and complex technology is extensively deployed in the infrastructure which should help to avoid such collisions. Experiences from the aeronautical Traffic Alert and Collision Avoidance System (TCAS) as well as the maritime Automatic Identification System (AIS) have shown that the probability of collisions can be significantly reduced with collision avoidance support systems, which do hardly require infrastructure components. In this article an approach is proposed for a “Railway Collision Avoidance System - RCAS” consisting only of mobile ad-hoc components, i.e. without the necessity of extensions of the railway infrastructure. Each train determines its position, direction and speed using GALILEO and broadcasts this information via mobile radio, complemented with other important information such as dangerous goods classifications in the region of its current location. This information can be received and evaluated by other trains, which may – if a potential collision is detected – lead to traffic alerts and resolution advisories up to direct interventions, which is usually applying the brakes. The contribution presents a selection of the relevant scenarios for the application of RCAS. Low Traffic density lines are well suited as well as large construction sites and industrial networks. Specific application cases are shunting yards, where a very high number of moving objects are supervised.

Mathematics Model for Collision Avoidance in Traffic Alert and Collision Avoidance System

Abstract: In the system of traffic alert and collision avoidance system (TCAS), the time of closest point of approach of the aircraft, horizontal miss distance (HMD), and vertical miss distance (VMD) are the primary parameters to describe the concept of collision avoidance. Firstly, the time of Tau is explained physically which approximates the time to closest point of approach (CPA), and then the formal expression of HMD is induced via the transforming of coordinate which is expressed by relative distance, relative distance rate, and relative acceleration between aircrafts. Finally, the modified model for engineering application is considered.

Collision avoidance system for autonomous unmanned air vehicles (UAVs)

Abstract: A collision and conflict avoidance system for an autonomous unmanned air vehicle (UAV) is provided. The system uses available on-board sensors to generate an image of the airspace surrounding the UAV. The sensor data is analyzed for imminent conflicts (collisions, TCAS violations, airspace violations), and, if a problem is detected, a search for possible avoidance routes is started. The avoidance routes as far as possible comply with statutory air traffic regulations. Depending on the available time, a short-term reactive algorithm using direct flight control system commands, or a medium-term path planning algorithm using a flight plan optimized under aeronautical and economical boundary conditions, may be used. In either case, the UAV may be returned to the original route. The system is particularly suited to allow the use of autonomous UAVs in both civil and military airspace.

A vehicle rear-end anti-collision method base on safety distance model

Abstract: A collision avoidance algorithm was present base on analysis of vehicle automatically anti-collision safety distance model The algorithm would give judgments by collecting the information including the speeds and accelerations of both cars which change everytime during the process of driving Then this collision avoidance system would show present states of vehicle The vehicle would brake automatically when necessary, and can keep the best distance between vehicles Its effectiveness was verified by the simulations and experiments

Radar detector and collision avoidance system interface

Abstract: An interface system of the present invention interconnects with a collision avoidance system and a radar detector. The interface system monitors and determines when sensors, from the collision avoidance system, are not required and selectively turns them off, thereby eliminating interference from the sensor and allowing the radar detector to work properly. The interface system also acts as a filter which enables and disables the audible and visual alerts of the radar detector and selects when to turn these filters on and off.

COLLISION AVOIDANCE SYSTEM PRORETA - Strategies Trajectory Control and Test Drives

Abstract: Methods and experimental results of a collision avoidance driver assistance system are described with automatic object detection, trajectory prediction, and path following with controlled braking and steering. The objects are detected by a fusion of LIDAR scanning and video camera pictures resulting in the location, size and speed of objects in front of the car. A desired trajectory is calculated depending on the distance, the width of a swerving action and difference speed. For the trajectory control different control methods were designed and tested experimentally like velocity depend linear feedback and feedforward control, nonlinear asymptotic output tracking and nonlinear flatness based control using extended one-track models with vehicle state estimation for the sideslip angle and cornering stiffness. Automatic braking is realized with an electrohydraulic brake (EHB) and automatic steering with an active front steering (AFS). The various control systems are compared by simulations and real test drives showing the behaviour of a VW Golf with automatic braking or/and automatic swerving to a free track, such avoiding hitting a suddenly appearing obstacle. The research project PRORETA was a four-years-cooperation between Continental Automotive Systems and Darmstadt University of Technology.

Base on LPC2210 the collision avoidance system of vehicle

Abstract: with the private cars increasing,it has brought convenience,but also to the traffic pressure. Automobile safety is very important. In the paper it introduces the collision avoidance system of vehicle applying LPC2210. This system has used two methods to measure distance,ultrasonic measuring distance and millimeter wave measuring distance. Alarming parts have applied the speech alarm and LCD display. Signal transmission the reception the voice integration chips and LCD display with some of the core chip hardware connection process and software flowchart.