Time To Collision For Emergency Obstacle Avoidance
Time to collision is one of the indices to decide if a collision is avoidable. This paper presents the study on emergency obstacle avoidance from the viewpoint of time to collision. The times to collision at which the autonomous emergency steering has to be initiated to avoid a collision are deriv...
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Society of Automotive Engineers Malaysia
2021
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my.utem.eprints.256012022-02-28T16:20:29Z http://eprints.utem.edu.my/id/eprint/25601/ Time To Collision For Emergency Obstacle Avoidance Phuman Singh, Amrik Singh Putra, Azma Abu Kassim, Khairil Anwar Time to collision is one of the indices to decide if a collision is avoidable. This paper presents the study on emergency obstacle avoidance from the viewpoint of time to collision. The times to collision at which the autonomous emergency steering has to be initiated to avoid a collision are derived for the five functions which are used for the generation of the emergency lane change paths. These functions are circular arcs, polynomial, ramp sinusoidal, sigmoid, and trapezoidal acceleration profiles. The times to collision at which the steering avoidance by using these functions has to be initiated are computed and compared. For a given lane change maneuver width of 3.5 m and coefficients of friction of 0.9, 0.5, 0.2, circular arcs give the shortest, and sigmoid gives the longest time to collision. Society of Automotive Engineers Malaysia 2021-05 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/25601/2/TIME%20TO%20COLLISION%20FOR%20EMERGENCY%20OBSTACLE%20AVOIDANCE.PDF Phuman Singh, Amrik Singh and Putra, Azma and Abu Kassim, Khairil Anwar (2021) Time To Collision For Emergency Obstacle Avoidance. Journal of the Society of Automotive Engineers Malaysia, 5 (2). pp. 223-234. ISSN 2600-8092 http://jsaem.my/index.php/journal/article/view/166/158 |
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Time to collision is one of the indices to decide if a collision is avoidable. This paper presents the study on emergency obstacle avoidance from the viewpoint of time to collision. The times to collision at which the autonomous emergency steering has to be initiated to avoid a collision are derived for the five functions which are used for the generation of the emergency lane change paths. These functions are circular arcs, polynomial, ramp sinusoidal, sigmoid, and trapezoidal acceleration profiles. The times to collision at which the steering avoidance by using these functions has to be initiated are computed and compared. For a given lane change maneuver width of 3.5 m and coefficients of friction of 0.9, 0.5, 0.2, circular arcs give the shortest, and sigmoid gives the longest time to collision. |
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Article |
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Phuman Singh, Amrik Singh Putra, Azma Abu Kassim, Khairil Anwar |
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Phuman Singh, Amrik Singh Putra, Azma Abu Kassim, Khairil Anwar Time To Collision For Emergency Obstacle Avoidance |
author_facet |
Phuman Singh, Amrik Singh Putra, Azma Abu Kassim, Khairil Anwar |
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Phuman Singh, Amrik Singh |
title |
Time To Collision For Emergency Obstacle Avoidance |
title_short |
Time To Collision For Emergency Obstacle Avoidance |
title_full |
Time To Collision For Emergency Obstacle Avoidance |
title_fullStr |
Time To Collision For Emergency Obstacle Avoidance |
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Time To Collision For Emergency Obstacle Avoidance |
title_sort |
time to collision for emergency obstacle avoidance |
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Society of Automotive Engineers Malaysia |
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2021 |
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http://eprints.utem.edu.my/id/eprint/25601/2/TIME%20TO%20COLLISION%20FOR%20EMERGENCY%20OBSTACLE%20AVOIDANCE.PDF http://eprints.utem.edu.my/id/eprint/25601/ http://jsaem.my/index.php/journal/article/view/166/158 |
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