The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity bstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios.

Car collision avoidance with velocity obstacle approach: Evaluation of the reliability and performace of the collision avoidance maneuver / Laurenza, Maicol; Pepe, Gianluca; Antonelli, Dario; Carcaterra, Antonio. - (2019), pp. 465-470. (Intervento presentato al convegno The International IEEE forum on research and technologies for society and industry(IEEE RTSI 2019) tenutosi a Firenze, Italy) [10.1109/RTSI.2019.8895525].

Car collision avoidance with velocity obstacle approach: Evaluation of the reliability and performace of the collision avoidance maneuver

Maicol Laurenza
;
Gianluca Pepe;Dario Antonelli;Antonio Carcaterra
2019

Abstract

The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity bstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios.
2019
The International IEEE forum on research and technologies for society and industry(IEEE RTSI 2019)
velocity obstacle; collision avoidance; optimal feedback control
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Car collision avoidance with velocity obstacle approach: Evaluation of the reliability and performace of the collision avoidance maneuver / Laurenza, Maicol; Pepe, Gianluca; Antonelli, Dario; Carcaterra, Antonio. - (2019), pp. 465-470. (Intervento presentato al convegno The International IEEE forum on research and technologies for society and industry(IEEE RTSI 2019) tenutosi a Firenze, Italy) [10.1109/RTSI.2019.8895525].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1310844
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