Open AccessModified turn algorithm based ground vehicle collision avoidance
Author(s) -
Kim Y.H.,
Park J.B.,
Yoon T.S.
Publication year - 2018
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2017.4074
Subject(s) - collision avoidance , collision , curvature , estimator , collision avoidance system , algorithm , computer science , control theory (sociology) , slip (aerodynamics) , path (computing) , simulation , engineering , mathematics , artificial intelligence , geometry , aerospace engineering , statistics , computer security , control (management) , programming language
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.