Integrated trajectory control and collision avoidance for automated driving

This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism. Employing this mechanism, collision avoidance by...

Obstacle Avoidance Control Design: An Experimental Evaluation in Vehicle Platooning

In this paper, an obstacle avoidance controller (OA) based on the impedance control method is developed. The main goal of the OA controller is to guarantee robust gap making for a merging vehicle within a platoon of vehicles which are longitudinally automated. The proposed OA controller is developed in a simulation environment and later...

Collision Avoidance System using State Dependent Riccati Equation Technique: An Experimental Robustness Evaluation

The capacity of a vehicle to avoid collisions is predominantly defined by the friction potential of the tyres. A robustness analysis of a Collision Avoidance System is executed by simulation and experiments for extreme changes in tyre friction. The collision avoidance controller which utilizes steering angle is based on the State Dependent...

Cooperative adaptive cruise control: An artificial potential field approach

In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller....

An adaptive finite element method for computing emergency manoeuvres of ground vehicles in complex driving scenarios

In emergency cases a vehicle has to avoid colliding with one or more obstacles, stay within road boundaries, satisfy acceleration and jerk limits, fulfil stability requirements and respect vehicle system dynamics limitations. The real time solution of such a problem is difficult and as a result various approaches, which usually relax the problem...

Experimental evaluation of collision avoidance system using state dependent Riccati equation technique

In emergency cases a vehicle can arrive in a situation where it has to avoid colliding with one or more obstacles. At the same time the vehicle needs to stay within road boundaries, satisfy acceleration and jerk limits, fulfil stability requirements and respect that the vehicle response is very much depending on the vehicle speed and tire-road...

Safety assessment methodology in interactive

This paper describes the safety impact assessment methodology that is developed and used for the evaluation of in-car ITS applications in the interactIVe project. InteractIVe is a project in the EU’s 7th framework program that develops new advanced driver assistance systems aimed at improving traffic safety. The safety assessment uses the...

Exploiting motion capture to enhance avoidance behaviour in games

Realistic simulation of interacting virtual characters is essential in computer games, training and simulation applications. The problem is very challenging since people are accustomed to real-world situations and thus, they can easily detect inconsistencies and artifacts in the simulations. Over the past twenty years several models have been...

Stereo based Obstacle Detection with Uncertainty in Rough Terrain

Autonomous robot vehicles that operate in offroad terrain should avoid obstacle hazards. In this paper we present a stereo vision based method that is able to cluster reconstructed terrain points into obstacles by evaluating their relative angles and distances. In our approach, constraints are enforced on these geometric properties by a set of...

Validation of principles for tactile navigation displays

Access to navigation information rapidly becomes standard in many situations, for example through GPS receivers and collision avoidance systems in cars. However, perceiving and processing the information may result in overloading the userÆs visual sense and cognitive resources. Intuitive navigation information presentation concepts using the...

Colour based off-road environment and terrain type classification

Terrain classification is an important problem that still remains to be solved for off-road autonomous robot vehicle guidance. Often, obstacle detection systems are used which cannot distinguish between solid obstacles such as rocks or soft obstacles such as tall patches of grass. Terrain classification is needed to prevent that the robot is...

Scalable HIL simulator with mixed real and virtual sensing capabilities

The advance in Intelligent Vehicle Systems (IVS) puts emphasis to vehicle-vehicle and vehicle-environment interactions. Sensing and sensory data interpretation play ever increasing role because sensing becomes the primary way of collecting information about the environment. In the IVS application domain the environment is unstructured, which...

MANUS: A wheelchair-mounted rehabilitation robot

Rehabilitation robots are assistive devices designed for use by people with severe disability in order to gain independence in tasks of daily living. MANUS is a wheelchair-mounted general-purpose manipulator now in use with over 100 people in their homes in the Netherlands, in France and in other countries. MANUS has six main degrees of freedom,...

The development of a man-machine interface for space manipulator displacement tasks

A space manipulator is a lightweight robotic arm mounted on a space station or a spacecraft. If the manipulator is manually controlled from a remote location (teleoperation), the human operator can only see its movements in the pictures from the cameras mounted on the manipulator and the pictures from the cameras installed in the neighbourhood...

Driving simulator validity: Some considerations

The validity of driving simulators for behavioral research is discussed. The concept of validity is introduced and explained, and a survey of validation studies follows, in the TNO driving simulator and others, comparing field and simulator study results. Results for mid-level driving simulators show that generally absolute validity of route...

Daytime running lights as a vehicle collision countermeasure: The Swedish evidence reconsidered

In Sweden the use of daytime running lights (DRL) was made mandatory on 1 October 1977 for all motor vehicles at once, during all seasons and for all areas. According to a study conducted by Andersson and Nilsson (1981) the introduction of DRL resulted in a reduction of 11% of multiple accidents during daytime. In many discussions on the...

Automation and the future of driver behavior

This paper sets out by identifying five plausible stages in the automation of the road traffic system, ranging from the introduction of part systems that support specific task components (navigation, collision avoidance) to full automation of roads and vehicles. It is then attempted to predict how drivers will respond to each successive stage of...