COOPERATIVELY CONTROLLED COLLISION EVASIVE EMERGENCY MANOEUVRES

摘要

This study focuses on interactive control paradigm that has been testified as an effective solution for reliable collision avoidance of autonomous vehicular systems. The so called interactive controller negotiates collision scenarios between two vehicular systems leading to cooperative manoeuvres. The key point is that in order to avoid a probable collision situation, both the vehicular systems interactively carry out manoeuvres. The hierarchical differentiation of the participatory vehicular subsystems is done by using a master-slave concept. An inter-vehicle communication (IVC) system plays a pivotal role here. The primary and secondary level data are exchanged between the vehicles through IVC. The main controllers, for braking and steering, onboard each of the vehicular system are based on adaptive neuro-fuzzy inference system (ANFIS). The top-tier of this controller includes all important auxiliary functional components for processing the secondary functional parameters.