Both emergency braking and active steering are possible choices for collision avoidance manoeuvres, any obstacle strategy aims to design a control algorithm preventing accidents. However, the real-time path needs consider motion state of surrounding participants on road. This work presents containing path-planning tracking controller. Firstly, lateral lane-changing spacing model longitudinal distance presented, describing vehicle reactively process dynamic scenarios in real environments....

In the vertical parking process, issue of turning in place due to discontinuities path curvature is addressed by proposing an optimal reference planning method based on circular arcs, straight lines, and a multi-objective evaluation function. This first analyzes obstacle avoidance constraints between vehicle’s outer contour space, as well kinematic constraints. The feasible driving region’s upper lower boundaries are determined tangent arcs lines. Subsequently, function designed, which...

Aims: To enhance the safety of intelligent vehicle drivers and help them achieve active collision avoidance. Background: Existing research on vehicles’ avoidance focuses reference path optimization stability tracking control. However, there is relatively little in emergency accident scenarios. Longitudinal braking technology has been mature, while steering still needs a long time to develop. The joint situations limited. Objective: Modeling longitudinal lateral distances based conditions...

For continuously changing road conditions and vehicle operating states, the exactitude of path tracking has not been secured by model predictive control based on linear lateral stiffness. An amended square root cubature Kalman filter method minimization a new covariance interest is proposed to calculate tire deflection force in real time. The ratio estimated was used as adjust stiffness, an adaptive controller built path-tracking error correct Finally, analysis joint CarSim Simulink...

An efficient approach for lane marking detection and classification by the combination of convolution neural network recurrent is proposed in this paper. First, trained features extraction, then these continuous frames are transferred to model boundary time domain. At last, a fitting method based on dynamic programming improve accuracy robustness. The presented generates satisfactory results type under various traffic conditions according experimental results, which show that provided paper...

Precise trajectory prediction is pivotal for autonomous vehicles operating in real-world traffic conditions, and can help them make the right decisions to ensure safety on road. However, state-of-the-art approaches consider limited information about historical movements of vehicles. On highways, drivers their next judgments according behavior ambient Thus, need temporal spatial interactions reduce risk future collisions. In current work, a method put forward accordance with graph attention...

Objective Collisions are a significant cause of injury and fatality among young novice drivers. Using real crash data, this study further explores the multifaceted complex nature drivers' risk by synthesizing different driver attributes scenarios in order to update validate previous research findings provide more feasible recommendations for preventive measures.

The purpose of this study was to investigate the landing kinematics (LK) pedestrians and cyclists provide an analysis influencing factors. A total 112 pedestrian cases 51 cyclist with video information were analysed. results showed that pedestrians' cyclists' depends on vehicle front-end shape impact velocity. In LK1, pedestrian/cyclist body had a clear rotation speed during ground contact. case, 71% 39% found head firstly contact ground. most frequent LK2, thrown upward-forward then landed...

Obstacle avoidance path planning in a dynamic circumstance is one of the fundamental problems autonomous vehicles, counting optional maneuvers: emergency braking and active steering. This paper proposes obstacle based on deep reinforcement learning (DRL), considering safety comfort. Firstly, vehicle lane change processes are analyzed detail. A graded hazard index defined to indicate degree potential risk current movement. The longitudinal distance lateral waypoint models established,...

Intersection scenarios are one of the most complex and high-risk traffic scenarios. Therefore, it is important to propose a vehicle driving decision algorithm for intersection Most related studies have focused on considering explicit collision risks while lacking consideration potential risks. this study proposes deep-reinforcement-learning-based address these problems. In study, non-deterministic risk assessment method proposed introduced into learning-based intelligent algorithm. addition,...

The safety performance test of intelligent driving vehicles needs to rely on the collision scenarios in a real road traffic environment. In order study and accident characteristics two wheelers (TWs) line with complex conditions China, this paper proposes using clustering analysis initially cluster data obtain base then applying association rule algorithm each scenario potential connection its attributes describe more detail. This is based from 335 vehicle two-wheeler crashes National...

A collision model, an automobile model and a multi-rigid-body in PC-crash are analyzed. By simulating side accident between car electric bicycle (EB), method that reproduces the car-electric based on is presented according to some important information such as final position, contacting location cyclist car. result obtained by comparing with reproduced result, deformation of vehicle surveillance video. The rollover direction fells-over sliding after wrap motion fitting real situation better...

Motion planning for autonomous vehicles relies heavily on perception and prediction results to find a safe, collision-free local trajectory that adheres traffic rules. However, vehicle is frequently limited by occlusion, the generation of safe trajectories with restricted significant challenge in field motion planning. This paper introduces collision avoidance algorithm considers potential risks, within hierarchical framework sampling optimization. The primary objective this work generate...

In order to study the role of EDR data in vehicle accident reconstruction, 15 basic types are analyzed. This paper reconstructs complete process 16 car traffic accidents and analyzes sources collision EDR. And trigger threshold range each type is explained, cases reconstructed The typical analyzed by data. speed direction force at time combined with sensitivity parameters. second reconstruction comparison error two results show that relative drops within 10%, is, adjusting parameter can...

To enhance the safety and stability of lane change maneuvers for autonomous vehicles in adverse weather conditions, this paper proposes a quadratic programming−based trajectory planning algorithm changing rainy weather. Initially, order to mitigate risk potential collisions on wet slippery road surfaces, we incorporate concept adhesion coefficients delayed reaction time refine establishment minimum distance. This augmentation establishes constraints distances delineates boundaries viable...

In this paper, the traffic accidents at intersections are discussed in depth, and significant factors affecting severity of car found out. 260 cases accident data come from Songjiang District, Shanghai 2008 to 2016. The intersection can be classified into three categories. They death accidents, injuries property damage accidents. is selected as dependent variable, eleven four aspects driver, vehicle, road environment candidate independent variables. combined stepwise method used analyze...

Since pedestrians are Vulnerable Road Users (VRU), the collision proportion and casualty rate still high between vehicle pedestrian, while current Autonomous Emergency Braking (AEB) system lacks relative overall pedestrian test scenarios. Based on National Automobile Accident In-depth Investigation System (NAIS) in-depth accident data about accidents passenger car in 220 cases, five typical AEB scenarios obtained by clustering analysis chi-square this paper; then, based second scenario,...

According to the real accident, head collision model of SUV and pedestrian was established. Firstly, PC-CRASH multi-rigid-body dynamics software is used reconstruct analyze corresponding dynamic response parameters injury are derived. Then impact The (collision velocity angle) in accident taken as initial strips finite element simulation. Finally, validity verified by comparing degree sags hood engine extent accidents with simulation results. It great significance study mechanism damage...

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The purpose of this study was to investigate the landing kinematics (LK) pedestrians and cyclists provide an analysis influencing factors. A total 112 pedestrian cases 51 cyclist with video information were analysed. results showed that pedestrians' cyclists' depends on vehicle front-end shape impact velocity. In LK1, pedestrian/cyclist body had a clear rotation speed during ground contact. case, 71% 39% found head firstly contact ground. most frequent LK2, thrown upward-forward then landed...