Development of Autonomous Forward Obstacle Avoidance System by Using In-Wheel-Motor and Steering Control of Micro Electric Vehicle

Abstract

This study proposes an autonomous obstacle avoidance system as one of the active safety technologies. This paper focuses on a scenario where a frontal obstacle suddenly appears during driving in a path with walls in both sides of the vehicle. The system derives an appropriate avoidance trajectory geometrically from the surroundings information obtained by a laser radar. Then, the vehicle is controlled to avoid the obstacle automatically by the cooperative control of braking and steering systems. The validity of the proposed system is verified by numerical simulations and real-time experiments using a micro electric vehicle.