Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles

Arikere, Adithya; Yang, Derong; Klomp, Matthijs; Lidberg, Mathias R · 2018 · OpenAlex-citations

DOI: 10.1080/00423114.2017.1423091

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Summary

This paper addresses the challenge of developing steering-based collision avoidance systems that must account for oncoming vehicles during evasive maneuvers. While rear-end collisions are common, many require evasive steering, which introduces the risk of colliding with traffic in the adjacent lane. Existing systems often lack the functionality to handle this complex threat assessment, particularly when vehicle dynamics operate in non-linear ranges. The authors propose an integrated control method that mitigates collision risk with oncoming vehicles by actively managing longitudinal speed, rather than relying solely on lateral steering or traditional stability controls that typically reduce speed. The study employs a multi-stage approach combining analytical modeling, optimal control simulations, physical experiments, and high-fidelity vehicle simulations. First, a point mass model was used to analytically determine the influence of speed on the "distance margin" (the gap between the host and oncoming vehicle at the end of the maneuver). This analysis identified a characteristic parameter correlating speed adjustments with collision risk reduction. These findings were verified through optimal control simulations using a point mass model across a wide parameter space, followed by experimental validation using a Volvo XC90 test vehicle driven manually under specific scenarios. Finally, a closed-loop longitudinal acceleration controller was developed and combined with yaw stability control via control allocation. This integrated controller was tested in CarMaker simulations using a validated XC90 vehicle model. The results demonstrate that appropriate longitudinal speed control significantly reduces collision risk. The analytical and simulation work identified that increasing speed is beneficial when the oncoming vehicle is traveling fast or the obstacle is long, as this reduces the time spent in the opposing lane. Conversely, decreasing speed is optimal when the oncoming vehicle is slow. Experimental results confirmed that manual speed strategies informed by these findings improved distance margins. The proposed integrated controller, which balances longitudinal acceleration with yaw stability, showed consistent reductions in collision risk in simulations. Notably, the study found that traditional active safety systems, which inherently reduce speed, can be suboptimal in scenarios where acceleration is required to clear the oncoming lane quickly. The significance of this work lies in its contribution to the development of advanced driver assistance systems capable of handling complex, multi-threat scenarios. By demonstrating that longitudinal control is a critical variable in evasive maneuvers involving oncoming traffic, the paper provides a framework for integrated motion control. This approach allows vehicles to better balance the risk of collision with oncoming traffic against the risk of loss of control, potentially enabling more reliable and effective autonomous or assisted evasive steering functions in real-world conditions.

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• time to collision looming