Integrated collision avoidance by active intervention of brake and steer for intelligent vehicles

A considerable proportion of road accidents are attributed to rear-end collision, lane change collisions and run off road events. An integrated design of information, warning and intervention system might help to reduce these types of accidents. Such an integrated approach will assist the driver in avoiding collisions in a systematic and structured way. This paper presents an approach how rear end-, lane change- and run off road-collisions can potentially be prevented and explains the required architecture and control concept. A common higher order polynomial based path planner is proposed due to its inherent advantage of stability and convergence over dynamic trajectories during the limited duration of the pre collision phase. The path following capability is improved by combining braking and steering intervention using a gain scheduled linear PID controller. A safety shield concept for HMI has been implemented based on performance of production feasible available sensors in order to improve the perception around the vehicle.