Collision avoidance manoeuvre for a vehicle — a practical approach

Abstract

This paper presents a practical real-time control approach to generate a suboptimal collision avoidance manoeuvre for vehicles. This manoeuvre tries to divert the vehicle away from an obstacle when the distance to the obstacle is too short for braking. During the course the vehicle follows a suboptimal trajectory which introduces a small lateral movement and a change in the travel direction. The trajectory is obtained analytically with a simplified dynamic model, whose nominal control input is thereafter defined along the trajectory. The actual control inputs for the vehicle are determined from this nominal input based on the bicycle model. Simulation with a verified full-car model shows satisfactory results, in which collision is avoided when the initial distance between the vehicle and obstacle is shorter than the shortest braking distance.