Home // International Journal On Advances in Systems and Measurements, volume 13, numbers 1 and 2, 2020 // View article

Two Models for Hard Braking Vehicles and Collision Avoiding Trajectories

Authors:
Fynn Terhar
Christian Icking

Keywords: Reachability; Trajectory; Dynamic Vehicle Model; Safety; Collision Avoidance; Braking; Trajectory Types

Abstract:
In this paper, we describe two models that describe vehicle dynamics in full braking situations with collision avoiding motions. By combining the equations of the classic Ackermann-Model with conditions that ensure a stable vehicle movement during simultaneous heavy braking and turning motions, we derive two models that describe the set of controllable trajectories by compound equations in the x,y-plane. We describe a simplified model first and compare its performance to the well known Constant-Turn-Rate-And-Acceleration-Model, which is computationally more expensive and less precise. We discuss the simplified model regarding uncertainties and their effect on reachability estimation of vehicles in admissible scenarios, to show the feasibility of our solution. By considering uncertainties of the parameters used in the Basic Model, we show a way to estimate the reachable area of a hard braking vehicle in different starting constellations. We extend this Basic Model to handle much more dynamic situations and starting conditions. In the new Extended Model, the initial yaw rate is an input, as well as the maximum steering angle change rate. The vehicle length and steering direction are also considered. By these additions, we are able to describe trajectories in much more realistic detail than with the Basic Model. We derive and present all necessary equations required for computing these trajectories. Furthermore, we analyze and demonstrate all possible types of trajectories that directly follow from our definitions.

Pages: 56 to 70

Copyright: Copyright (c) to authors, 2020. Used with permission.

Publication date: June 30, 2020

Published in: journal

ISSN: 1942-261x