Modelling, simulation and control of pedestrian avoidance maneuver for an urban electric vehicle

L. Alonso Rentería, J. M.Pérez Oria, A. Jiménez Avello, Basil Mohammed Al-Hadithi, V. M. Becerra

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Pages (from-to)8.1-8.8
JournalInternational Journal of Simulation: Systems, Science and Technology
Volume17
Issue number33
DOIs
Publication statusPublished - 7 Sep 2016

Keywords

  • Electric vehicle
  • Modeling
  • Pedestrian avoidance
  • Simulation
  • Urban traffic

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