Modeling, Simulation and Control of Pedestrian Avoidance Maneuver for an Urban Electric Vehicle

Alonso Rentería, L. and Pérez Oria, J. M. and Becerra, V. M. and Jiménez Avello, Agustín and Al-Hadithi, Basil M. (2015). Modeling, Simulation and Control of Pedestrian Avoidance Maneuver for an Urban Electric Vehicle. In: "EMS 2015 9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation", 6-8 October 2015, Madrid. pp. 201-206.

Description

Title: Modeling, Simulation and Control of Pedestrian Avoidance Maneuver for an Urban Electric Vehicle
Author/s:
  • Alonso Rentería, L.
  • Pérez Oria, J. M.
  • Becerra, V. M.
  • Jiménez Avello, Agustín
  • Al-Hadithi, Basil M.
Item Type: Presentation at Congress or Conference (Article)
Event Title: EMS 2015 9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation
Event Dates: 6-8 October 2015
Event Location: Madrid
Title of Book: EMS 2015 9th IEEE European Modelling Symposium on Mathematical Modelling and Computer Simulation
Date: 2015
Subjects:
Freetext Keywords: Keywords–modeling; simulation; electric vehicle; urban traffic; pedestrian avoidance.
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper, 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. The discrete model of several sensors and actuators, a decision system, and low-level controllers for acceleration/braking and steering systems are added. 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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2012-36959UnspecifiedUnspecifiedUnspecified

More information

Item ID: 42056
DC Identifier: http://oa.upm.es/42056/
OAI Identifier: oai:oa.upm.es:42056
Official URL: http://uksim.info/ems2015/ems2015.htm
Deposited by: Memoria Investigacion
Deposited on: 05 Jul 2016 14:59
Last Modified: 08 Jul 2016 14:35
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