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Intersection support system for powered two-wheeled vehicles: threat assessment based on a receding horizon approach

Intersection support system for powered two-wheeled vehicles: threat assessment based on a receding horizon approach
Intersection support system for powered two-wheeled vehicles: threat assessment based on a receding horizon approach
This paper reports a novel intersection support (IS) system for motorcycles developed through the SAFERIDER project (IS). The IS function described is built on a receding horizon approach that is designed for a set of predefined intersection scenarios. In the receding horizon scheme, a nonlinear optimal control problem is repetitively solved in real time, yielding a reference motion plan. The initial value of the longitudinal jerk (control input) of each plan is used as a measure of the correction that the rider has to apply to conform to an optimal-safe maneuver. This technique has the advantage of yielding a homogenous measure of the threat independent of the scenario, and it is directly linked with the control variable that the rider should use to accordingly change the vehicle's longitudinal dynamics. Additionally, the receding horizon approach naturally accommodates road geometry and constraint attributes, motorcycle dynamics, rider input, and riding styles. Warning feedback is given to the rider by an appropriate combination of human-machine interface elements, such as the haptic throttle, the vibrating glove, and the visual display. This paper explains the IS concept, discusses the implementation aspects of the proposed receding horizon approach, and presents the results of pilot tests conducted on a top-of-the-range riding simulator.
1524-9050
805-816
Biral, F.
30f2a203-ada0-4913-8963-34a35eb15948
Lot, R.
ceb0ca9c-6211-4051-a7b8-90fd6f0a6d78
Rota, S.
e20414ab-ba09-4e18-afbc-ffc9411b7788
Fontana, M.
b7aeb18e-4a62-4bf0-a52f-649476b2d6a9
Huth, V.
e0fb6f4e-31c3-4399-af8d-93be953377d1
Biral, F.
30f2a203-ada0-4913-8963-34a35eb15948
Lot, R.
ceb0ca9c-6211-4051-a7b8-90fd6f0a6d78
Rota, S.
e20414ab-ba09-4e18-afbc-ffc9411b7788
Fontana, M.
b7aeb18e-4a62-4bf0-a52f-649476b2d6a9
Huth, V.
e0fb6f4e-31c3-4399-af8d-93be953377d1

Biral, F., Lot, R., Rota, S., Fontana, M. and Huth, V. (2012) Intersection support system for powered two-wheeled vehicles: threat assessment based on a receding horizon approach. IEEE Transactions on Intelligent Transportation Systems, 13 (2), 805-816. (doi:10.1109/TITS.2011.2181835).

Record type: Article

Abstract

This paper reports a novel intersection support (IS) system for motorcycles developed through the SAFERIDER project (IS). The IS function described is built on a receding horizon approach that is designed for a set of predefined intersection scenarios. In the receding horizon scheme, a nonlinear optimal control problem is repetitively solved in real time, yielding a reference motion plan. The initial value of the longitudinal jerk (control input) of each plan is used as a measure of the correction that the rider has to apply to conform to an optimal-safe maneuver. This technique has the advantage of yielding a homogenous measure of the threat independent of the scenario, and it is directly linked with the control variable that the rider should use to accordingly change the vehicle's longitudinal dynamics. Additionally, the receding horizon approach naturally accommodates road geometry and constraint attributes, motorcycle dynamics, rider input, and riding styles. Warning feedback is given to the rider by an appropriate combination of human-machine interface elements, such as the haptic throttle, the vibrating glove, and the visual display. This paper explains the IS concept, discusses the implementation aspects of the proposed receding horizon approach, and presents the results of pilot tests conducted on a top-of-the-range riding simulator.

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More information

Published date: 2012
Additional Information: cited By 8
Organisations: Energy Technology Group

Identifiers

Local EPrints ID: 384116
URI: https://eprints.soton.ac.uk/id/eprint/384116
ISSN: 1524-9050
PURE UUID: 4dafa1ce-c462-46c4-82f3-867314919b6b
ORCID for R. Lot: ORCID iD orcid.org/0000-0001-5022-5724

Catalogue record

Date deposited: 10 Dec 2015 15:33
Last modified: 06 Jun 2018 12:22

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