Abstract:
This research study focuses on finding a solution for collision avoidance of smart vehicular systems. The
main paradigm that is used to establishthesolutionistheinteractivecontrolofvehicularsystemsfornegotiating
a collision scenario for taking evasive actions. In this study, an interactive controller proposed negotiates
collision scenarios between two vehicular systems leading to cooperative maneuvers. Thus, the interactive
control actions lead to some maneuvers mutually beneficial to both the vehicles. The objective of this
study is to develop a fully operational intelligent interactive controller for the smart vehicles. An Inter-
Vehicle Communication (IVC)system plays a pivotal role in exchanging the necessary information in
between the vehicles. The (IVC)system is assumed to be with enough versatility for dealing with multiple
collisions in the channel transmitting information.//
This study is focusing on the vehicles outside the usually considered plato on environment. It is
considering for emergency intervention maneuvers for collision evasive solutions.//
The hierarchical differentiation in control of the participatory vehicles is done by using the Master-Slave
concept. The master is given more power in comparison to the slave. But these states are moment-bound
and are to change fast.//
There are two main controllers which have been developed for braking and steering. The two controllers
are based on Adaptive Neuro- Fuzzy Inference System(ANFIS).The top tier of this controller includes all
important auxiliary functional components for processing the primary sensory variables. The ANFIS
controller has been offline trained in the MatLab-7 environment.//
A simulation study has been done for the controllers in the Mat lab /Simu link environment for various
categories of collisions between the two vehicles. Even though the above paradigm is discussed for two
participatory vehicular sub-systems, It is emphasized, that the same approach can effectively be extended
without any major conceptual breakthrough to any number of vehicles for reliable evasion of collisions.
In similar way, multiple vehicles can be considered as a multiplication of the number of pairs of vehicles
for applying the results of the above study.//
Two fully autonomous prototypes were realized with full capability for testing intelligent interactive
collision avoidance trials. Here, all sensor types and equipment were tested for expected functionality to
be used in the integrated environment. To this end, software were developed for testing each component
in the provided platform.
