A modified turn algorithm based novel collision avoidance method for ground vehicles is proposed. Given two points in the plane, the proposed algorithm provides an effective path for collision avoidance in terms of curvature change. As this method alleviates sudden curvature changes and side-slip of the vehicle, it improves the overall driving performance. Further, the non-linear estimator for time-to-collision is introduced in order to improve the performance of collision avoidance. Simulation results demonstrate the superior performance of the proposed algorithm over the existing lane change algorithm.
Bibliographical noteFunding Information:
Acknowledgment: This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (No. 2013R1A1A4A01013607)
© The Institution of Engineering and Technology 2018.
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering