Socially Acceptable Collision Avoidance System for Vulnerable Road Users

Emirler M. T. , Wang H., Guvenc B. A.

14th IFAC Symposium on Control in Transportation Systems (CTS), İstanbul, Türkiye, 18 - 20 Mayıs 2016, cilt.49, ss.436-441 identifier identifier

  • Cilt numarası: 49
  • Doi Numarası: 10.1016/j.ifacol.2016.07.073
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.436-441


This paper considers the problem of avoidance of collision with vulnerable road users like pedestrians and cyclists during automated driving. An elastic band based collision avoidance method is used to calculate a collision free path. Safety distance improvements are proposed in order to provide social acceptance of the collision avoidance maneuver. After determining the collision free path, an automated robust path following control system is used to follow the calculated path. The proposed approach is tested with realistic simulations using a validated nonlinear vehicle dynamics model. (C) 2016 IFAC (International Federation or Automatic Control) Hosting by Elsevier Ltd. All rights reserved.