Driving/Braking Torque Control of Micro Electric Vehicle for Pedestrian Collision Avoidance in Right Turn Maneuver

概要

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Pedestrian collision avoidance in urban environments is an important active safety technology to protect vulnerable road users and realize zero-traffic-accident society. Especially, reduction of vehicle-pedestrian collision accidents at intersections by using vehicle control engineering approaches in a promising approach. This paper focuses on the right turn driving situation which drivers need to negotiate pedestrians near crosswalk region. Using a micro electric vehicle as an experimental vehicle, this paper describes an autonomous collision avoidance by braking. The intensity of braking maneuver is determined by Potential Fields. A LIDAR is used to detect pedestrians and measure their speed and position in intersections. The proposed system consists of the risk assessment in consideration of pedestrian motion and an algorithm to minimize the collision risk which changes dynamically associated with changes of pedestrian behavior. Finally, the effectiveness of the autonomous collision avoidance system is verified by driving experiments using the micro-scale electric vehicle.