Radar Based Longitudinal Virtual Bumper Collision Avoidance System Implemented on211 a Truck

摘要

This report describes results from a series of experiments using the virtual211u001ebumper collision avoidance algorithm implemented on a Navistar tractor cab. The 211u001evirtual bumper combines longitudinal and lateral collision avoidance capabilities 211u001eto control a vehicle in normal and emergency situations. A programmable boundary, 211u001ethe virtual bumper defines a personal space around the host vehicle. Researchers 211u001eused a radar and a laser range sensor to sense the location of vehicles in front 211u001eof the truck. Target vehicles that enter the truck's personal space impose a 211u001evirtual 'force' on the host, which in turn modifies the vehicle's trajectory to 211u001eavoid collisions with objects in the field of view. Researchers tested the 211u001evirtual bumper longitudinal controller under different driving situations and at 211u001edifferent speeds. The experiments included several scenarios: Adaptive Cruise 211u001eControl, the truck performing a critical stop for a stationary target vehicle, 211u001eand situations that simulate stop and go traffic. Result from the virtual bumper 211u001elongitudinal experiments were favorable. The algorithm demonstrated robustness to 211u001esensor noise and the ability to maintain a safe headway for both normal and 211u001eemergency driving scenarios. Researchers currently are improving the sensing 211u001etechnology and incorporating a road database, which contains roadside features to 211u001egreatly reduce, if not eliminate, false target detection.