| DECISION MAKING FOR COLLISION AVOIDANCE SYSTEMS
CONSIDERING A FOLLOWING VEHICLE |
| Seong-Geun Shin 1,2, Hyuck-Kee Lee 1, Seung-Han You 2,3 |
1ICT Convergence R&D Center, Korea Automotive Technology Institute
2School of Mechanical Engineering, Korea University of Technology and Education
3Future Convergence Engineering, Korea University of Technology and Education |
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| ABSTRACT |
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In vehicles with driving assistance systems, the responsibility of driving still lies with the driver. Therefore,
active safety systems follow a design principle of avoiding intervention as long as possible. Decision making using this
principle requires collision avoidance with surrounding objects during the evasive maneuvering of an ego vehicle. However,
general decision-making methods for collision avoidance focus on preventing collisions with objects in front of the subject
vehicle; the risk of collision with the following vehicle caused by emergency braking is not considered. This paper presents
decision-making methods for such collision avoidance systems, wherein emergency braking and steering are considered as
collision avoidance maneuvers. The risk of collision is predicted based on the braking model of a normal driver and several
emergency braking strategies are designed to avoid collisions. A within-lane steering avoidance method to improve
avoidance performance in small overlap collision scenarios and a general avoidance method of steering to change lanes are
designed. Collisions with surrounding objects can be avoided using the designed evasive maneuvers; further, maneuvers that
can be implemented at the last moment are determined. The results of computer simulations indicate an improved collision
avoidance performance using the proposed methods. |
| Key Words:
Emergency braking, Emergency steering, Decision making, Collision avoidance, Following vehicle |
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Corresponding Author.
Seung-Han You , Email. 
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