Collision Avoidance Via Emergency Steering Warning System: A Driving Simulator Approach

POLİTEKNİK DERGİSİ JOURNAL of POLYTECHNIC ISSN: 1302-0900 (PRINT), ISSN: 2147-9429 (ONLINE) URL: http://dergipark.gov.tr/politeknik Acil direksiyon uyarı sistemi ile önlenmesi: sürüş simülatörü yaklaşımı kaza Collision avoidance via emergency steering warning system: a driving simulator approach Yazar(lar) (Author(s)): Hasan ŞAHİN1, Orhan ATABAY2, Özgen AKALIN3 ORCID1: 0000-0002-7943-1502 ORCID2: 0000-0002-3724-4864 ORCID3: 0000-0001-8136-214X Bu makaleye şu şekilde atıfta bulunabilirsiniz(To cite to this article): Şahin H., Atabay O. ve Akalın Ö., “Acil direksiyon uyarı sistemi ile kaza önlenmesi: Sürüş simülatörü yaklaşımı”, Politeknik Dergisi, 22(2): 327-333, (2019). Erişim linki (To link to this article): http://dergipark.gov.tr/politeknik/archive DOI: 10.2339/politeknik.428010 Politeknik Dergisi, 2019; 22(2) :327-333 Journal of Polytechnic, 2019; 22 (2) :327-333 Acil Direksiyon Uyarı Sistemiyle Kaza Önlenmesi: Sürüş Simülatörü Yaklaşımı Araştırma Makalesi / Research Article Hasan ŞAHIN1, Orhan ATABAY2*, Ozgen AKALIN3 İstanbul Teknik Üniversitesi, Makina Fakültesi, Makine Mühendisliği, İstanbul, Türkiye (Geliş/Received : 31.12.2017 ; Kabul/Accepted : 24.04.2018) ÖZ Bu çalışma, karayollarındaki aynı yönde ilerleyen araçların emniyetini iyileştirmek için bir Acil Direksiyon Uyarı Sisteminin (ADUS) uygulanabilirliğini analiz etmektedir. Önerilen sistem, aracın fiziksel sınırlarını ve sürücünün tepkisini göz önünde bulundurarak bir ses veya benzeri bir teşvik yardımıyla çarpışmayı önlemenin kararını vermeye yardımcı olmaktadır. Tipik simülasyon senaryoları MATLAB/Simulink ve IPG / CarMaker ortak simülasyon ortamlarında tasarlanmıştır. Önceden belirlenmiş senaryoda, öndeki taşıtlar sistemin yüklü olduğu taşıtın bulunduğu şeride karışık bir algoritma ile aniden geçer ve sonrasında sürücünün direksiyon ya da fren yaparak çarpışmayı önlemesi beklenir. ADUS sistemi, servis freni kullanılmasıyla kazanın kaçınılmaz olduğu tespit edildiğinde ve engelden kaçınmanın tek yolunun şerit değiştirmesi olduğu durumlarda sesli uyarı üretmektedir. Simülasyonlar, ADUS sistemi yüklü olan ve olmayan sürüş simülatörü kullanan bir grup katılımcı tarafından gerçekleştirilmiştir. ADUS sistemi katılımcıları bazı kritik trafik durumlarında avantajlı olabilecek daha erken ve yumuşak bir direksiyon manevrası yapmaya teşvik etmiştir. İstatistiksel sonuçlar, sesli uyaranın sürücülerin reaksiyon sürelerini önemli ölçüde azalttığını ve önerilen çarpışma uyarısı sistemi ile sürücülerin bir dizi kazayı önleyebileceğini göstermiştir. Anahtar Kelimeler: MATLAB/Simulink, direksiyon uyarısı, otonom araçlar, taşıt kontrol sistemleri, sürücü destek sistemleri. Collision Avoidance Via Emergency Steering Warning System: A Driving Simulator Approach ABSTRACT This study analyzes the viability of an Emergency Steering Warning System (ESWS) to improve the safety of vehicles on highways traveling in the same direction. The proposed system evaluates the vehicle’s physical limits, driver’s reaction and assists in making the most logical decision to avoid a crash using a sound or a similar stimulus. Typical driving simulator events were designed in MATLAB/Simulink and IPG/CarMaker co-simulation environment. In the predetermined scenario, the leading vehicles suddenly move into the host vehicle’s lane and the driver is expected to avoid crash by either steering or braking. The ESWS system generates a sound stimulus when it is determined that the crash is unavoidable with the use of service brakes and the only way to avoid the obstacle is steering. The simulation events were performed by a group of participants using a driver simulator with and without the ESWS system. The proposed ESWS encouraged participants to do an earlier and smoother steering maneuver which can be advantageous in some certain critical traffic situations. The statistical results showed that the sound stimulus reduced the drivers’ reaction time significantly and a number of accidents can be avoided by the suggested crash warning system. Keywords: MATLAB/Simulink, steering warning, autonomous control systems, vehicle control systems, advanced driver assistance systems 1. INTRODUCTION Various active safety systems have been developed for collision avoidance such as emergency brake assist, stability control systems and anti-collision systems [1]. The significance of the active safety systems arises in unexpected situations, since drivers usually have longer reaction time in unexpected situations [2]. Therefore, active safety systems have an important role for mitigation or avoidance of a possible collision by a warning or an autonomously triggered steering and braking action [3]. Most active safety systems focus on controlling the longitudinal behavior of the vehicle in order to avoid *Sorumlu Yazar (Corresponding Author) e-posta : collision such as Forward Collision Warning (FCW) and Active City Stop (ACS). However, in some cases active longitudinal control may not be sufficient to avoid a collision [4]. If the relative speed between vehicles is more than 50 km/h, the distance required to avoid collision by a steering maneuver is less than the distance required to avoid collision by a braking maneuver [5]. Moreover, a single braking maneuver without steering was identified as the most frequently encountered first natural response for drivers, and a steering maneuver could be observed if a single braking maneuver is perceived as insufficient by drivers [6,7]. Therefore, first attempt of the drivers could be braking, and after then a combination of steering and braking even though a single steering maneuver could avoid a possible collision. The 327 Hasan ŞAHİN, Orhan ATABAY, Özgen AKALIN /POLİTEKNİK DERGİSİ, Politeknik Dergisi,2019;22(2):327-333 reason of this could be the lack of experience of the drivers for applying high lateral accelerations [8]. Driving simulators could provide significant information for design and development of active safety systems [810]. A steering warning system has been proposed in this study by considering whether a single braking maneuver is sufficient to avoid a possible collision. In this study an Emergency Steering Warning System (ESWS) is proposed to reduce the drivers’ response time and encourage drivers to avoid an obstacle by steering using a warning system with a sound stimulus if the relative speed between vehicles is above 50 km/h. The ESWS was designed to be activated if only a single braking maneuver is not enough to avoid a possible collision. If the ESWS is active it does not guarantee that the collision could be prevented via steering, however a steering maneuver is definitely necessary to avoid or mitigate a possible collision. The proposed ESWS was implemented to a driver simulator and a number of cases were designed. In the first case, the ESWS of the simulated vehicle was disabled so that participants used their own judgment for choosing steering or braking maneuvers. In the other case (...truncated)