Piecewise Trajectory Replanner for Highway Collision Avoidance Systems with Safe-Distance Based Threat Assessment Strategy and Nonlinear Model Predictive Control

Piecewise Trajectory Replanner for Highway Collision Avoidance Systems with Safe-Distance Based Threat Assessment Strategy and Nonlinear Model Predictive Control

This paper proposes an emergency Trajectory Replanner (TR) for collision avoidance (CA) which works based on a Safe-Distance Based Threat Assessment Strategy (SDTA). The contribution of this work is the design of a piecewise-kinematic based TR, where it replans the path by avoiding the invisible rec...

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Bibliographic Details
Main Authors: Umar Zakir, Abdul Hamid, Mohammad Hatta, Mohammed Ariff, Hairi, Zamzuri, Saito, Yuichi, Muhammad Aizzat, Zakaria, Mohd Azizi, Abdul Rahman, Raksincharoensak, Pongsathorn
Format: Article
Language:English
Published: Springer Netherlands 2018
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/20081/1/10.1007%252Fs10846-017-0665-8.pdf

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