access icon free Modified turn algorithm based ground vehicle collision avoidance

A modified turn algorithm based novel collision avoidance method for ground vehicles is proposed. Given two points in the plane, the proposed algorithm provides an effective path for collision avoidance in terms of curvature change. As this method alleviates sudden curvature changes and side-slip of the vehicle, it improves the overall driving performance. Further, the non-linear estimator for time-to-collision is introduced in order to improve the performance of collision avoidance. Simulation results demonstrate the superior performance of the proposed algorithm over the existing lane change algorithm.

Inspec keywords: collision avoidance; vehicles; nonlinear estimation

Other keywords: time-to-collision; ground vehicle collision avoidance; curvature change; vehicle side-slip; modified turn algorithm; lane change algorithm; nonlinear estimator

Subjects: Other topics in statistics; Transportation system control; Spatial variables control

http://iet.metastore.ingenta.com/content/journals/10.1049/el.2017.4074
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