Piecewise trajectory replanner for highway collision avoidance systems with safe-distance based threat assessment strategy and nonlinear model predictive control

• Main Authors: Hamid, U. Z. A., Ariff, M. H. M., Zamzuri, H., Saito, Y., Zakaria, M. A., Rahman, M. A. A., Raksincharoensak, P.
• Format: Article
• Published: Springer Netherlands 2017
• Subjects: T Technology (General)
• Online Access: http://eprints.utm.my/id/eprint/77182/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-85030678035&doi=10.1007%2fs10846-017-0665-8&partnerID=40&md5=47118574422bf05394b091366ecdbc51
• Institution: Universiti Teknologi Malaysia

This paper proposes an emergency Trajectory Replanner (TR) for collision avoidance (CA) which works based on a Safe-Distance Based Threat Assessment Strategy (SDTA). The contribution of this work is the design of a piecewise-kinematic based TR, where it replans the path by avoiding the invisible rec...