Development and Testing of a Collision Avoidance Braking System for an Autonomous Vehicle
Ilya Aleksandrovich Kulikov1, Ivan Alekseevich Ulchenko2, Anton Vladimirovich Chaplygin3
1Ilya Aleksandrovich Kulikov*, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
2Ivan Alekseevich Ulchenko, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
3Anton Vladimirovich Chaplygin, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
Manuscript received on September 16, 2019. | Revised Manuscript received on 24 September, 2019. | Manuscript published on October 10, 2019. | PP: 703-709 | Volume-8 Issue-12, October 2019. | Retrieval Number: L29751081219/2019©BEIESP | DOI: 10.35940/ijitee.L2975.1081219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The article describes the main development and testing aspects of an emergency braking function for an autonomous vehicle. The purpose of this function is to prevent the vehicle from collisions with obstacles, either stationary or moving. An algorithm is proposed to calculate deceleration for the automated braking, which takes into account the distance to the obstacle and velocities of both the vehicle and the obstacle. In addition, the algorithm adapts to deviations from the required deceleration, which are inevitable in the real-world practice due to external and internal disturbances and unaccounted dynamics of the vehicle and its systems. The algorithm was implemented as a part of the vehicle’s mathematical model. Simulations were conducted, which allowed to verify algorithm’s operability and tentatively select the system parameters providing satisfactory braking performance of the vehicle. The braking function elaborated by means of modeling then was connected to the solenoid braking controller of the experimental autonomous vehicle using a real-time prototyping technology. In order to estimate operability and calibrate parameters of the function, outdoor experiments were conducted at a test track. A good consistency was observed between the test results and simulation results. The test results have proven correct operation of the emergency braking function, acceptable braking performance of the vehicle provided by this function, and its capability of preventing collisions.
Keywords: Automated Braking, Autonomous Vehicle, Control System, Simulations, Testing.
Scope of the Article: Autonomous Robots