Autonomous Collision Avoidance System by Steering Based on Frontal Obstacle Motion Prediction

-In Case of Pedestrian Crossing Behavior-

Abstract

This paper proposes a function extension of the forward obstacle avoidance system proposed by the authors in the previous paper so that it enables to avoid a moving obstacle like a pedestrian jumping out from the side of the road. In the newly proposed system, the avoidance trajectory is not derived against the current obstacle position itself, but against the predicted colliding position based on obstacle motion prediction. Then, the newly proposed system is examined by real-car experiments and its effectiveness is shown from the results.