Abstract
Recently, in order to decrease the number of traffic accidents, various automotive safety technologies have been studied. As one of these technologies, Nipun et al. have proposed the autonomous frontal avoidance system, which avoids frontal obstacle by autonomous evasive steering. However, since the existing system considers only a forward obstacle, the ego vehicle collides with the road boundary under narrow road conditions. Therefore, in the previous study, Fujimori et al. proposed the autonomous frontal obstacle avoidance system considering the road boundary and showed its effectiveness by numerical simulation. In this paper, we execute an actual vehicle experiment of automatic avoidance. The results show the proposed trajectory updating method is effective.
