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    A Predictive Frontal and Oblique Collision Mitigation System for Autonomous Vehicles

    Source: ASME Letters in Dynamic Systems and Control:;2021:;volume( 001 ):;issue: 004::page 041012-1
    Author:
    Sun, Chuanyang
    ,
    Eskandarian, Azim
    DOI: 10.1115/1.4050502
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper presents a collision mitigation system for an unavoidable collision with an arbitrary oncoming obstacle vehicle. A set of candidate trajectories are generated by a model-based method and a hierarchical efficient collision-checking method is applied to check the potential collision between the predicted trajectory of the obstacle vehicle and the candidate trajectories of the ego vehicle. A novel method based on the vehicle polygon is applied to identify the specific impact location of the vehicle body. The predicted Delta-V and the identified impact location are combined to evaluate the outcome severity of the upcoming accident for each candidate trajectory. Based on the evaluated results, a path with the least damage would be selected and executed to mitigate the collision. Simulation and analysis are performed to investigate the performance of the presented system in a high-speed scenario of a detailed vehicle model.
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      A Predictive Frontal and Oblique Collision Mitigation System for Autonomous Vehicles

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    contributor authorSun, Chuanyang
    contributor authorEskandarian, Azim
    date accessioned2022-02-05T22:14:14Z
    date available2022-02-05T22:14:14Z
    date copyright4/2/2021 12:00:00 AM
    date issued2021
    identifier issn2689-6117
    identifier otheraldsc_1_4_041012.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4277181
    description abstractThis paper presents a collision mitigation system for an unavoidable collision with an arbitrary oncoming obstacle vehicle. A set of candidate trajectories are generated by a model-based method and a hierarchical efficient collision-checking method is applied to check the potential collision between the predicted trajectory of the obstacle vehicle and the candidate trajectories of the ego vehicle. A novel method based on the vehicle polygon is applied to identify the specific impact location of the vehicle body. The predicted Delta-V and the identified impact location are combined to evaluate the outcome severity of the upcoming accident for each candidate trajectory. Based on the evaluated results, a path with the least damage would be selected and executed to mitigate the collision. Simulation and analysis are performed to investigate the performance of the presented system in a high-speed scenario of a detailed vehicle model.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Predictive Frontal and Oblique Collision Mitigation System for Autonomous Vehicles
    typeJournal Paper
    journal volume1
    journal issue4
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4050502
    journal fristpage041012-1
    journal lastpage041012-6
    page6
    treeASME Letters in Dynamic Systems and Control:;2021:;volume( 001 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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