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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Main Authors: Phuman Singh, Amrik Singh, Putra, Azma, Abu Kassim, Khairil Anwar
Format: Article
Language:English
Published: Society of Automotive Engineers Malaysia 2021
Online Access: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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Institution: Universiti Teknikal Malaysia Melaka
Language: English
id my.utem.eprints.25601
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spelling 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
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description 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.
format Article
author Phuman Singh, Amrik Singh
Putra, Azma
Abu Kassim, Khairil Anwar
spellingShingle 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
author_sort 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
title_full_unstemmed Time To Collision For Emergency Obstacle Avoidance
title_sort time to collision for emergency obstacle avoidance
publisher Society of Automotive Engineers Malaysia
publishDate 2021
url 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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