Abstract
The mathematical model of an electric vehicle, as well as the control system for avoiding pedestrians in urban traffic is described. The vehicle is modeled as a continuous system consisting of several subsystems. In addition, a set of sensors and actuators along with a two-level discrete control system are modeled. Based on this model, a pedestrian avoidance maneuver for typical speeds in city traffic is simulated. When the sensory system detects a pedestrian in the vehicle's path, the decision system calculates its trajectory. Using this information, the speed and/or direction that the vehicle must take in order to avoid the accident are estimated. These values are sent to the low-level controllers of the accelerator/brake and steering, which generate the signals to be applied to such systems to achieve the desired trajectory and speed.
| Original language | English |
|---|---|
| Pages (from-to) | 8.1-8.8 |
| Journal | International Journal of Simulation: Systems, Science and Technology |
| Volume | 17 |
| Issue number | 33 |
| DOIs | |
| Publication status | Published - 7 Sept 2016 |
Keywords
- Electric vehicle
- Modeling
- Pedestrian avoidance
- Simulation
- Urban traffic