Topic
Collision avoidance system
About: Collision avoidance system is a research topic. Over the lifetime, 1788 publications have been published within this topic receiving 23667 citations.
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TL;DR: In this article, a hierarchical control scheme is applied to the problem of integrated chassis control of a collision avoidance system (CAS), which includes both lateral and longitudinal control, using Active Front Steer in addition to the brake actuators.
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.
33 citations
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TL;DR: Results presented herein show that the optimized logic, issuing only climb, descend, and level-off advisories, was able to outperform the current version of TCAS and the Descend/Climb responsive logic against intruders that are equipped with TCAS.
Abstract: This presented the development and simulation of optimized collision avoidance logic to operate on-board general aviation aircraft. Framing the collision avoidance problem as a Markov decision process allows the logic to be generated using a specified encounter model and performance metrics. Past work has focused on using this framework to develop an improved collision avoidance system for non-GA aircraft. This presented results using the framework to optimize logic for lower performance GA aircraft and comparing its performance to the existing version of TCAS, as well as a simple Descend/Climb responsive logic. The results presented herein show that the optimized logic, issuing only climb, descend, and level-off advisories, was able to outperform the current version of TCAS and the Descend/Climb responsive logic against intruders that are equipped with TCAS. The optimized logic issuing 1000 feet = min advisories resulted in the best performance with respect to safety and alerting. For encounters where two GA aircraft are equipped with a collision avoidance system, the optimized logic was 3.1 times safer than TCAS for 500 feet = min advisories and 3.6 times safer for 1000 feet = min advisories. Both of the optimized methods resulted in lower probabilities of alert and reversal than TCAS and the Descend/Climb logic, which is desirable from an operational standpoint. The optimized logic that resulted in the best performance had a relatively high cost of reversing. This resulted in a very low probability of reversing for the GA aircraft, as low as zero in one case. The reversal rate for a TCAS-equipped intruder aircraft was slightly higher, but this was offset by a lower probability of strengthening advisories on the TCAS aircraft.
33 citations
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Uber 1
TL;DR: In this paper, a collision avoidance system for an autonomous-capable vehicle can continuously receive image frames captured of the roadway to determine drivable space in a forward direction of the vehicle.
Abstract: A collision-avoidance system for use with an autonomous-capable vehicle can continuously receive image frames captured of the roadway to determine drivable space in a forward direction of the vehicle. The system can determine, for each image frame, whether individual regions of the image frame depict drivable space. The system can do so using machine-learned image recognition algorithms such as convolutional neural networks generated using extensive training data. Using such techniques, the system can label regions of the image frames as corresponding to drivable space or non-drivable space. By analyzing the labeled image frames, the system can determine whether the vehicle is likely to impact a region of non-drivable space. And, in response to such a determination, the system can generate control signals that override other control systems or human operator input to control the brakes, the steering, or other sub-systems of the vehicle to avoid the collision.
33 citations
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23 Jan 2015TL;DR: An automatic braking system for a vehicle includes an electronic brake system capable of applying wheel brakes to decelerate the vehicle and a controller that includes instructions for detecting an object proximate to a vehicle with at least one sensor for a reverse collision avoidance system and determining a collision confidence value based upon the probability of collision with the object as discussed by the authors.
Abstract: An automatic braking system for a vehicle includes an electronic brake system capable of applying wheel brakes to decelerate the vehicle and a controller. The controller includes instructions for detecting an object proximate to a vehicle with at least one sensor for a reverse collision avoidance system and determining a collision confidence value based upon the probability of collision with the object. The controller further includes instructions for determining a desired velocity profile of the vehicle that provides for deceleration of the vehicle.
33 citations
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01 Feb 2008TL;DR: New intersection collision avoidance architecture 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.
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.
33 citations