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Advanced emergency braking controller design for pedestrian protection oriented automotive collision avoidance system.

Lie G, Zejian R, Pingshu G, Jing C - ScientificWorldJournal (2014)

Bottom Line: Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance.To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim.Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller.

View Article: PubMed Central - PubMed

Affiliation: School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China.

ABSTRACT
Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

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Related in: MedlinePlus

Scheme of the braking controller for deceleration.
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fig4: Scheme of the braking controller for deceleration.

Mentions: (a) Design of the Braking Controller for Deceleration. The braking controller for deceleration employs a hierarchical control structure. The upper controller determines the expectations of the acceleration of the host vehicle in the current situation according to the requirement that proper distance should be kept between the leading vehicle and the host one in the same lane. The lower controller controls the vehicle dynamics system to achieve the desired acceleration on the basis of the output of the upper controller. The vehicle dynamics system which was introduced in Section 2.2 includes the inverse dynamics model and the vehicle model with CarSim. The scheme of the braking controller for deceleration is shown in Figure 4 and the detailed design process of the controller, which includes the upper one and the lower one, is introduced below.


Advanced emergency braking controller design for pedestrian protection oriented automotive collision avoidance system.

Lie G, Zejian R, Pingshu G, Jing C - ScientificWorldJournal (2014)

Scheme of the braking controller for deceleration.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4109130&req=5

fig4: Scheme of the braking controller for deceleration.
Mentions: (a) Design of the Braking Controller for Deceleration. The braking controller for deceleration employs a hierarchical control structure. The upper controller determines the expectations of the acceleration of the host vehicle in the current situation according to the requirement that proper distance should be kept between the leading vehicle and the host one in the same lane. The lower controller controls the vehicle dynamics system to achieve the desired acceleration on the basis of the output of the upper controller. The vehicle dynamics system which was introduced in Section 2.2 includes the inverse dynamics model and the vehicle model with CarSim. The scheme of the braking controller for deceleration is shown in Figure 4 and the detailed design process of the controller, which includes the upper one and the lower one, is introduced below.

Bottom Line: Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance.To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim.Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller.

View Article: PubMed Central - PubMed

Affiliation: School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China.

ABSTRACT
Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

Show MeSH
Related in: MedlinePlus