An automotive collision avoidance control based on a feasible set
Masakazu Mukai, Yuji Harada, Junichi Murata, Taketoshi Kawabe, Hikaru Nishira, Yoshitaka Deguchi · 2009 ICCAS-SICE · 2009
This paper considers an optimal path generation problem that generates a path of an automobile without any collision with obstacles. The problem is formulated as a mixed integer programming problem. In the problem the obstacles and environments around the automobile can be represent as inequality conditions. A feasible set called collision avoidable set (CAS) is considered to constract a driver assisit control.