Optimization based maneuver modification for Collision Avoidance System

The aim of this work is to accomplish further improvements on the previously developed Collision Avoidance System. To this end, possible weaknesses of the algorithm originated from sensor performance insufficiency are detected as a first step. Then, maneuver modifications which can compensate these weaknesses are identified. System inputs that produce obtained maneuvers are determined using simulation based optimization algorithm. Finally, the system is tested with the obtained system inputs in a realistic simulation environment with high fidelity vehicle models and results are criticized according to the previously detected weaknesses and identified maneuver modifications.