Path Design and Control for Collision Avoidance System of Cars

Abstract:- The paper deals with design and realization problems of collision avoidance systems (CAS) of cars (ground vehicles). CAS emergency path design is based on the principle of elastic band with improved reaction forces for road borders and static obstacles allowing quick computation of the force equilibrium. The CAS path (reference signal) is smoothed and realized using receding horizon control (RHC). The car can be modelled by full (non-affine) or simplified (input affine) nonlinear models. Receding horizon control uses linearization along the path within the horizon and analytical optimization of a quadratic criterion with end-constraint. Differential geometric approach (DGA), known from control literarure for the simplified nonlinear model, has been used for control initialization in the first horizon. For state estimation Kalman filters and measurements of two antenna GPS and Inertial Navigation System (INS) are used. The software validity test was performed using thorough simulation. A stand-alone software has been been developed using the C Compiler of MATLAB R2006a satisfying real time expectations