COLLISION AVOIDANCE SYSTEM PRORETA - Strategies Trajectory Control and Test Drives

R. Isermann, U. Stählin, M. Schorn

2008

Abstract

Methods and experimental results of a collision avoidance driver assistance system are described with automatic object detection, trajectory prediction, and path following with controlled braking and steering. The objects are detected by a fusion of LIDAR scanning and video camera pictures resulting in the location, size and speed of objects in front of the car. A desired trajectory is calculated depending on the distance, the width of a swerving action and difference speed. For the trajectory control different control methods were designed and tested experimentally like velocity depend linear feedback and feedforward control, nonlinear asymptotic output tracking and nonlinear flatness based control using extended one-track models with vehicle state estimation for the sideslip angle and cornering stiffness. Automatic braking is realized with an electrohydraulic brake (EHB) and automatic steering with an active front steering (AFS). The various control systems are compared by simulations and real test drives showing the behaviour of a VW Golf with automatic braking or/and automatic swerving to a free track, such avoiding hitting a suddenly appearing obstacle. The research project PRORETA was a four-years-cooperation between Continental Automotive Systems and Darmstadt University of Technology.

Paper Citation

in Harvard Style

Isermann R., Stählin U. and Schorn M. (2008). COLLISION AVOIDANCE SYSTEM PRORETA - Strategies Trajectory Control and Test Drives . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8111-30-2, pages 35-42. DOI: 10.5220/0001489300350042

in Bibtex Style

@conference{icinco08,
author={R. Isermann and U. Stählin and M. Schorn},
title={COLLISION AVOIDANCE SYSTEM PRORETA - Strategies Trajectory Control and Test Drives},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2008},
pages={35-42},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001489300350042},
isbn={978-989-8111-30-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - COLLISION AVOIDANCE SYSTEM PRORETA - Strategies Trajectory Control and Test Drives
SN - 978-989-8111-30-2
AU - Isermann R.
AU - Stählin U.
AU - Schorn M.
PY - 2008
SP - 35
EP - 42
DO - 10.5220/0001489300350042