A MODEL FOR AUTONOMOUS VEHICLE
OBSTACLE AVOIDANCE AT HIGH SPEEDS
Dragan D. Stamenković University of Belgrade, Faculty of Mechanical Engineering Received: 21st May 2024. ABSTRACT The systems that are currently installed in autonomous vehicles are not designed to avoid obstacles on the road by
manoeuvring at the limits of the vehicle and the road surface – the goal of the research presented was to develop such system. For these purposes, a
universal test track based on ISO 3888-1 and ISO 3888-2 standards was adopted, which can be used to represent any situation in which there is an obstacle
on the road in front of the vehicle that needs to be avoided. An analysis of the curves for generating the paths through the test track was carried out,
on the basis of which the Bézier curves were chosen. In addition to them, the results of simulations in Adams Car software were used to generate the
paths, which can be considered equivalent to real-world trials with a professional driver behind the wheel. A control model was developed for
longitudinal and transverse control of the vehicle based on PID controllers, with the selection of optimal parameters – the ones that define PID
controllers, and the others that define other characteristics of the model. The model proved to be successful in guiding the vehicle through the test
track at all speeds at which manoeuvres are possible. Bézier curves are shown to be a better choice at lower speeds, while paths based on Adams Car
simulations are a better choice at higher speeds. KEY WORDS CLASSIFICATION
and Vladimir M. Popović
Belgrade, Serbia
INDECS 22(3), 246-265, 2024
DOI 10.7906/indecs.22.3.2
Full text available in
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Accepted: 15th June 2024.
Regular article
autonomous vehicle, lateral control, double lane change, moose test, vehicle dynamics
ACM: I.6.0
JEL: R49