Obstacle avoidance system for autonomous vehicles

Muhammad Suleman Shafqat; Ahsan Nisar; Nazish Shafqat

doi:10.31645/JISRC.23.21.2.10

Author(s)

Muhammad Suleman Shafqat Royal Saudi Air Force,Riyadh, Kingdom of Saudi Arabia,, KSA,

Ahsan Nisar Pakistan Navy Engineering College, (PNEC), NUST University,Islamabad,Pakistan

Nazish Shafqat Northwestern Polytechnical University,Xi'an, Shaanxi,China

Abstract

Road accidents are one of the major cause of human deaths around the globe. In order to accelerate autonomous driving, a problem of designing suitable lateral and longitudinal drive control scheme, with an obstacle avoidance mechanism has been considered. For this purpose, a two-wheel equivalent model of a vehicle has been adopted and steering angle velocity is treated as a control input. A cascaded architecture for Obstacle Avoidance and Drive Control has been presented. Impact point algorithm has been developed for Obstacle Avoidance System that receives data from various onboard sensors, and computes potential impact probability based on position and velocity of own vehicle and potential static and moving obstacles. The reference heading and speed signals are continuously updated by the Obstacle Avoidance System. Feedback linearization based lateral and longitudinal drive control laws have been proposed to control the required heading angle and longitudinal speed, respectively. Performance of the proposed control scheme for various operational scenarios has been evaluated through simulations.

Publication Details

Page(s) 69-77

DOI 10.31645/JISRC.23.21.2.10

Published Journal: Journal of Independent Studies and Research Computing, Volume: 21, Issue: 2, Year: 2023

Request the full text from PASTIC

Keywords

Non- linear Control, Feedback Linearization, Autonomous Vehicle, Steering Control, Adaptive Cruise Control, Obstacle Avoidance, Heading Control