Title :
Intelligent CAN-based automotive collision avoidance warning system
Author :
Wang, An-Ping ; Chen, Jie-Cheng ; Hsu, Pao-Lo
Author_Institution :
Inst. of Electr. & Control, Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
To construct a vehicle collision avoidance system, a laser radar and three ultrasonic sensors are integrated with the CAN bus to build the in-car network architecture to prevent the car on all directions. There are two sub-systems developed for this collision avoidance system: (a) the front-end sub-system and (b) the side and rear-end sub-system. The front-end collision warning sub-system is constructed for high-speed driving conditions by measuring the distance in the front with a laser radar. Moreover, the relative speed between two cars can be properly estimated by applying the current Kalman filter. Then, a D/V curve is further obtained to generate collision warning with a desirable precaution time to prevent the front-end collision actively. For the collision avoidance on the side and the rear-end, the approaching speed from other cars in general is slow and available ultrasonic sensors with limited range and resolution are adopted. An intelligent approach is proposed to process the rough distance readout to render warning signals with suitable timing for the approaching car drivers to prevent the collision passively. A high-level network protocol CANopen is applied to integrate all ultrasonic sensors as the in-car network communication.
Keywords :
Kalman filters; alarm systems; automobiles; collision avoidance; controller area networks; filtering theory; intelligent networks; intelligent sensors; optical radar; protocols; Kalman filter; automotive collision avoidance warning system; front end subsystem; high level network protocol CANopen; in-car network architecture; in-car network communication; intelligent CAN bus; laser radar; side and rear end subsystem; ultrasonic sensors; Alarm systems; Automotive engineering; Collision avoidance; Intelligent sensors; Intelligent vehicles; Laser radar; Radar measurements; Sensor systems; Signal processing; Signal resolution;
Conference_Titel :
Networking, Sensing and Control, 2004 IEEE International Conference on
Print_ISBN :
0-7803-8193-9
DOI :
10.1109/ICNSC.2004.1297424