NDLI: Vehicular Trajectory Optimization for Cooperative Collision Avoidance at High Speeds

Content Provider	IEEE Xplore Digital Library
Author	Tomas-Gabarron, J.-B. Egea-Lopez, E. Garcia-Haro, J.
Copyright Year	2000
Abstract	Traffic safety is a key aspect in new-generation intelligent transportation systems. Among other areas, an active field of research is cooperative collision avoidance, where vehicles cooperatively calculate trajectories under tight time constraints to avoid colliding under specific road-traffic domains (overtaking, intersections, etc.). In this paper, we particularly analyze the problem of collision avoidance in scenarios in which high-speed vehicles need to generate evasive maneuvers within very short time intervals to avoid or at least mitigate a hypothetical (multiple) collision. We pose this as a multiobjective optimization problem and simplify it by considering only lateral motion for the optimization process, thus having to solve a 1-D trajectory generation problem. The routes of vehicles are optimized according to a weighted aggregation functional that: 1) maximizes the lateral distances between vehicle-vehicle and vehicle-obstacle pairs at the time of overcoming the obstacles; 2) minimizes the lateral speeds at the end of the path; and 3) minimizes the instantaneous lateral acceleration (inertia) along the maneuver. In addition, we compute trajectories by following an optimization strategy that divides the problem into a set of independent subproblems, which are optimized in parallel by using a gradient-descent-based methodology. From this set of solutions, the most suitable option, according to our selected criteria, is chosen. Results show the utility of our approach and its flexibility to compute evasive trajectories adapted to different requirements. Additionally, a simulation of the mechanical response of the vehicles during the evasive maneuvers is conducted.
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	1930
Ending Page	1941
Page Count	12
File Size	1304429
File Format	PDF
ISSN	15249050
Volume Number	14
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicular ad hoc networks Road accidents Optimization Optimal control Collision avoidance Cooperative systems Vehicle safety vehicle safety Cooperative collision avoidance (CCA) optimum control optimum maneuvering road accidents VANET
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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