Project

Systems for Roadway Departure Avoidance

Period
1 January 2009-1 January 2012
Project manager
Claes Olsson

This project focuses on lane and roadway departure warning and control systems that only intervene during dangerous lane and road departures, instead of warning on lane marking crossing. The overall mission is to improve vehicle and traffic safety by developing new active safety functions based on real world needs, together with necessary verification tools, by applying novel safety research approaches.

Website
http://www.chalmers.se/safer/EN/projects/pre-crash-safety/associated-projects/s…

Short facts

Research area
Systems for Accident Prevention and AD
Financier(s)

FFI

Partners

Volvo Car Corporation, Chalmers

Project type
Project

Related publications

Sensitivity Analysis and Tuning for Active Safety Systems

Active safety systems utilize information about the vehicle’s state and possibly the surrounding environment to assist the driver if a traffic situation is considered hazardous. The decision to assist the driver is based on sensors that are more or less

Authors : Jonas Nilsson, Mohammad Ali
Year : 2010
Published in : Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems, September 2010, Madeira

Set-Based Threat Assessment in Lane Guidance Applications

We present a model based threat assessment method for semi-autonomous vehicles. Based on the assumption that information about the surrounding environment is available over a future finite time horizon, we first introduce a set of constraints on the

Authors : Paolo Falcone, Mohammad Ali, Jonas Sjöberg
Year : 2010
Published in : The "6th IFAC Symposium on Advances in Automotive Control", July 2010, Munich

Threat assessment for driver assistance systems using interval-based techniques

We present a threat assessment algorithm for driver assistance systems in which mathematical vehicle and driver models are used to explicitly account for the vehicle and driver behavior. For the application considered in this paper, requirements that the

Authors : Esteban R. Gelso, Mohammad Ali, Jonas Sjöberg
Year : 2011
Published in : Proceedings of the 18th IFAC World Congress, August-September 2011, Milan

Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties

In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver

Authors : Mohammad Ali, Paolo Falcone, Jonas Sjöberg
Year : 2011
Published in : Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, December 2011, Orlando

Predictive Threat Assessment via Reachability Analysis and Set Invariance Theory

We propose two model-based threat assessment methods for semi-autonomous vehicles, i.e., human-driven vehicles with autonomous driving capabilities. Based on information about the surrounding environment, we introduce a set of constraints on the vehicle

Authors : Paolo Falcone,  Mohammad Ali, Jonas Sjöberg
Year : 2011
Published in : IEEE Transactions on Intelligent Transportation Systems, 12 (4), pp. 1352-1361

Real-time Implementation of a Novel Safety Function for Prevention of Loss of Vehicle Control

We present a novel safety function for prevention of vehicle control loss. The safety function overcomes some of the limitations of conventional Electronic Stability Control (ESC) systems. Based on sensor information about the host vehicle's state and the

Authors : Mohammad Ali, Claes Olsson, Jonas Sjöberg
Year : 2011
Published in : IEEE Intelligent Transportation Systems Conference, October 2011, Washington

Integrated threat assessment and control design for roadway departure avoidance

This paper presents the design of an active safety system for prevention of unintended roadway departures. In normal driving conditions, the driver fully commands the vehicle while the safety system corrects the driver's steering and braking action in case

Authors : Andrew Gray, Mohammad Ali, Yiqi Gao, J. Karl Hedrick, Francesco Borrelli
Year : 2012
Published in : 15th International IEEE Conference on Intelligent Transportation Systems (ITSC 2012), September 2012, Anchorage

Semi-autonomous vehicle control for road departure and obstacle avoidance

This paper presents a semi-autonomous controller for integrated design of an active safety system. A model of the driver’s nominal behavior is estimated based on observed behavior. A nonlinear model of the vehicle is developed that utilizes a coordinate

Authors : Andrew Gray, Mohammad Ali, Yiqi Gao, J. Karl Hedrick, Francesco Borrelli
Year : 2012
Published in : IFAC Symposium on Control in Transportation Systems, September 2012, Sofia

Threat assessment design under driver parameter uncertainty

We consider a model-based threat assessment method, which enables the activation of assisting safety interventions in case an accident threat to the driver is detected. The method relies on vehicle and driver mathematical models and reachability analysis

Authors : Mohammad Ali, Paolo Falcone, Jonas Sjöberg
Year : 2012
Published in : IEEE 51st Annual Conference on Decision and Control (CDC), December 2012, Mau

Automotive Threat Assessment Design for Combined Braking and Steering Maneuvers

The active safety systems available on the passenger cars market today, automatically deploy automated safety interventions in situations where the driver is in need of assistance. In this paper, we consider the process of determining whether such

Authors : Mohammad Ali, Esteban R. Gelso, Jonas Sjöberg
Year : 2013
Published in : IEEE Transactions on Vehicular Technology, 62 (4), pp. 1519-1526

Multi-Objective Collision Avoidance

This paper presents a multi-objective safety system that is capable of avoiding unintended collisions with stationary and moving road obstacles, vehicle control loss as well as unintended roadway departures. The safety system intervenes only when there is

Authors : Mohammad Ali, Andrew Gray, Yiqi Gao, J. Karl Hedrick, Francesco Borrelli
Year : 2013
Published in : Proceedings of the ASME Dynamic Systems and Control Conference, October 2013, Palo Alto

Predictive Prevention of Loss of Vehicle Control for Roadway Departure Avoidance

In this paper, we investigate predictive approaches to the problem of roadway departure prevention via automated steering and braking. We assume a sensing infrastructure detecting road geometry and consider a two-layer accident avoidance framework

Authors : Mohammad Ali, Paolo Falcone, Claes Olsson, Jonas Sjöberg
Year : 2013
Published in : IEEE Transactions on Intelligent Transportation Systems, 14 (1), pp. 56-68

Impact of Different Vehicle Models on Threat Assessment in Critical Curve Situations

Curve speed warning systems (CSW) utilize information about the road and warn drivers if they are about to enter a curve too fast. Recent research shows that CSW is successful in warning for upcoming curves. However no statistically significant change in

Authors : Mohammad Ali, Jonas Sjöberg
Year : 2009
Published in : The "21st International Technical Conference on the Enhanced Safety of Vehicles", June 2009, Stuttgart

A Unified Approach to Threat Assessment and Control for Automotive Active Safety

This paper presents the design of a novel active safety system preventing unintended roadway departures. The proposed framework unifies threat assessment, stability, and control of passenger vehicles into a single combined optimization problem. A nonlinear

Authors : Andrew Gray, Mohammad Ali, Yiqi Gao, J. Karl Hedrick, Francesco  Borrelli
Year : 2013
Published in : IEEE Transactions on Intelligent Transportation Systems, 14 (3), pp. 1490-1499

A Predictive Approach to Roadway Departure Prevention

In this paper, we investigate predictive control approaches to the problem of roadway departure prevention via steering and braking. We assume a sensing infrastructure detecting road geometry and consider a two layers architecture consisting of a threat

Authors : Mohammad Ali, Paolo Falcone, Jonas Sjöberg
Year : 2009
Published in : The "21st International Symposium on Dynamics of Vehicles on Roads and Tracks", August 2009, Stockholm

Towards Predictive Yaw Stability Control

In this paper the possibility to predict vehicle loss of control using information about the host vehicle’s state and the road ahead is investigated. A threat assessment algorithm that predicts loss of control based on assumptions of the driver’s future

Authors : Mohammad Ali, Claes Olsson, Jonas Sjöberg
Year : 2009
Published in : The "2009 Intelligent Vehicles Symposium", June 2009, Xian

On Automotive Roadway Departure Prevention

Traffic accidents cause a huge amount of injuries and fatalities each year. Active safety systems assist the driver in critical traffic situations and thus contributes in reducing the amount of injuries and fatalities in traffic. This thesis deals with

Authors : Mohammad Ali
Year : 2010