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With the development of the modern vehicle industry, research and development of intelligent transport system has been undertaken. As an active safety feature, there is a need to develop a system with an appropriate steering and braking operation for accident avoidance. In this study, it is assumed that an automatic vehicle, which runs on the highway, encounters an obstacle in distance of collision by braking without steering operation. Our study aims to find operations that the vehicle can perform to avoid an obstacle by a combination of steering and braking. This paper proposes a method to generate operating waveforms using an immune algorithm (IA) that can generate plural quasi-optimum solutions. CarSim (Mechanical Simulation Company), which possesses full vehicle dynamics with 27 degrees of freedom, is adopted as the vehicle model in our study. Inputs for this model include wheel steering angle and brake pressure. Operation waveforms are generated by linear interpolation through designated data points. Real number type IA, which is coded real number expression, is adopted in order to find data points. The efficacy of the proposed method is verified through an emergency avoidance simulation using CarSim. The simulation result demonstrates operation patterns to avoid an obstacle; in addition, real number type IA is shown to perform better than conventional binary type in a search performance of the solution.

Emergency avoidance control system for an automatic vehicle (A method to generate operating waveforms using real number coded immune algorithm)