Vehicle Velocity Control System for Multi-Vehicle Collision Avoidance Based on Optimal Collision Point; 최적 충돌 지점 기반 다중 차량 충돌 방지를 위한 차량 속도 제어 시스템

초록

This paper proposed a collision avoidance method with vehicle longitudinal velocity control based on multi-vehicle collision points. We estimated the position and shape of the object vehicles with collision risk through sensors, such as LiDAR and cameras. Then, the collision point was determined from the object data, and a Kalman filter was applied to estimate the object vehicle. The optimal collision distance was estimated by calculating the collision risk for the collision point of the multi-object vehicle. Afterward, a collision avoidance system was implemented through a longitudinal control technique using optimal collision distance and time gap. The proposed method was verified through multi-vehicle collision avoidance scenario-based simulation. © 2024 Korean Society of Automotive Engineers. All rights reserved.

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