چکیده مقاله
An event triggered obstacle avoidance path update approach was investigated in a CarSim Simulink co simulation environment, with emphasis placed on the computation of lookup table query variables that parameterize an updated lateral target A MATLAB Function was used to generate i a preview referenced station increment and ii a signed peak lateral path shift from vehicle speed, preview time, vehicle/obstacle widths, and latched obstacle relative distance and bearing A clearance driven formulation was adopted in which the shift magnitude was computed from the combined envelope widths and reduced by the obstacle's lateral offset inferred from bearing, while maneuver direction was selected through a small bearing threshold Robustness was improved by non negativity enforcement on the shift magnitude and by gating the computation through an update switch to prevent unintended reference modification outside obstacle encounters The resulting dS_drvPrev, pathShift pair was supplied to a two dimensional lookup table to generate a station parameterized avoidance contribution to the lateral reference tracked by a single preview steering path follower The framework was evaluated on a straight multi lane road at 120 km/h with repeated obstacle events Bounded and repeatable lateral deviations were produced during triggered intervals, followed by reconvergence to nominal tracking, while pronounced steering and roll transients were observed during the most demanding events The results indicated that the proposed lookup table input formulation provides an interpretable and tunable interface between sensed obstacle geometry and reference path modification, with preview time and clearance scaling directly influencing tracking aggressiveness and dynamic demand
کلیدواژهها
نویسندگان
Ehsan Vakili
School of Automotive Engineering, Iran University of Science and Technology
Bardia Shokouhian
School of Automotive Engineering, Iran University of Science and Technology
Behrooz Mashhadi
School of Automotive Engineering, Iran University of Science and Technology
شیوه ارجاع
Vakili, Ehsan and Shokouhian, Bardia and Mashhadi, Behrooz,1404,A Lightweight Event-Triggered Obstacle-Avoidance Path Update in a Co-Simulation Environment,2nd Automotive Industries Recent Advances and Future Trends,Tehran
ارائهشده در
مجموعه مقالات دومین کنفرانس پیشرفت های اخیر و روندهای آینده در صنعت خودرو29 بهمن 1404 · تهران