Design an automatic car overtaking system using nonlinear control

Document Type : Research Paper

Authors

1 Isfahan university of technology

2 amin police university

3 Tehran Traffic Police

4 iran university of medical sciences

Abstract

َAbstract
In the last decades intelligent transportation systems are considered more than ever as a feasible method to control the traffic. The intelligence of this system can greatly reduce human error in crashes. Parallel parking system, car turning and automatic intellignet car are the important systems in this area. In this paper, an important factor of accidents has been discussed to reduce damages of crashes. At first the laws of car precession have been obtained according to traffic police laws and car nonholonomic constraint. Then, multiple paths and car decision capability system have been designed to access an intelligent control system. In this research design a fuzzy decision system is a novel way to decrease the accidents. Finally car dynamic analysis and MATLAB simulation have been compared to show the usability of designed intelligent precession system. Results of this paper with reasonable error illustrate the effectiveness of proposed control system.

Keywords

Main Subjects


-Akhtar, A., Nielsen, Ch. and Waslander, S. (2015) “Path following using dynamic transverse feedback linearization for car-like robots”, IEEE Transactions on Robotics, Vol. 31, NO. 2, pp. 269-279.

 -Anindyaguna, Kh., Basjaruddin, N. and Saefudin, D. (2016) “Overtaking assistant system (OAS) with fuzzy logic method using camera sensor2nd International Conference of Industrial, Mechanical, Electrical, and Chemical Engineering (ICIMECE).

-Baturone, I., Moreno-Velo, J., Solano, S., and Ollero, A. (2004) “Automatic Design of Fuzzy Controllers for Car-Like Autonomous Robots”, IEEE Trans. on Fuzzy Systems, Vol. 12, No. 4, pp. 447-465.

-Cao, Y. and Qiao, M. (2017) “Application of fuzzy control in four wheel steering control system”  International Conference on Advanced Mechatronic Systems (ICAMechS).

-Cara, C., Groza, A., Zaporojan, S. and Calmicov, I. (2016) “Assisting drivers during overtaking using Car-2-Car communication and multi-agent systems” IEEE 12th International Conference on Intelligent Computer Communication and Processing (ICCP)

-Chen, Zh., Hu, X., Li, Y. and Zhang, Zh. (2017) “Speed control system design of automatic parking based on fuzzy-PID control” 2017 IEEE International Conference on Information and Automation (ICIA).

-Creed, B., Kahawatte, N. and Varanhagen, S. (2010) “Development of a full car vehicle dynamics model for Use in the design of an active suspension control system”,  University of California MAE 272
-Dong, H., Jin, Sh. and Hou, Z. (2014) “Model free adaptive control for automatic car parking systems”, Intelligent Control and Automation (WCICA), pp. 1769-1774.
-Dubey, A., Lakhani, Dave, Sh. and Patoliya, J. (2017) “Internet of things based adaptive traffic management system as a part of intelligent transportation system (ITS)”, International Conference on Soft Computing and its Engineering Applications.
-Ji, X., Wang, J., Zhao, Y., Liu, Y., Zang, L. and Li, B. (2015) “Path planning and tracking for vehicle parallel parking based on preview BP neural network PID controller”, Transactions of Tianjin University, PP. 199-208.

-Khoshnejad, M. and Demirli, K. (2005) “Autonomous parallel parking of a car-like mobile robot by a neuro-fuzzy behavior-based controller” NAFIPS 2005 - 2005 Annual Meeting of the North American Fuzzy Information Processing Society.

-Lee., K., Kim, D., Chung, W., Chang, H. and Yoon P. (2006) “Car parking control using a trajectory tracking controller”, SICE-ICASE International Joint Conf., pp. 2058-2063, Oct.
-Li, S., Chang, J., and Chen, X. (2013) “Implementation of human-like driving skills by autonomous fuzzy behavior on an FPGA-Based car like mobile robots”, IEEE Trans. on Industrial Electronics, Vol. 50, No. 5, pp. 867-880.

- Liu, H., Sun, Y. and Ge, Y. (2015) “Research on modeling and optimization of overtaking rules under intelligent system”, IEEE International Conference on Information and Automation

-McCall, J., and Trivedi, M. (2006) “Video-based lane estimation and tracking for driver assistance: Survey, system, and evaluation”, IEEE Trans. Intell. Transp. Syst., Vol. 7, No. 1, pp. 20–37. 
-Pepy, R., Lambert, A. and Mounier, H. (2006) “Path planning using a dynamic vehicle model”, 2nd International Conference on Information & Communication Technologies

-Selvathi, D., Pavithra, P. and Preethi, T. (2017) “Intelligent transportation system for accident prevention and detection”, Intelligent Computing and Control Systems, June. International Conference on Intelligent Computing and Control Systems (ICICCS)

-Sheng, Q., Min, J., Zhang, X., Zhang, Z., Li, Y. and Liu, G. (2015) “Design and Simulation of Small Space Parallel Parking Fuzzy Controller”, Telecommunication Computing Electronics and Control, Vol. 13, No. 2, PP. 539-546.

 -Sivaraman, S. and Trivedi, M. (2010) “A general active-learning framework for on-road vehicle recognition and tracking”, IEEE Trans. Intell. Transp. Syst., Vol. 11, No. 2, pp. 267–276.
-Wada, M., Yoon, K. and Hashimoto, K. (2003) “Development of Advanced Parking Assistance System”, IEEE Transactions on Industrial Electronics,Vol. 50, No. 1, pp. 4-17.
-Zhang, j., Wang, f., Wang, k., Lin, w., and Chen, c. (2011) “Data-Driven Intelligent”, Transportation Systems: A Survey”, IEEE Trans.on Intelligent Transportation Systems, Vol. 5, No. 99, pp.1-16.
-Zhang, S., Simkani, M., Zadeh, M.H., (2011) “Automatic Vehicle Parallel Parking Design Using Fifth Degree Polynomial Path Planning”, IEEE Vehicular Technology Conference, pp. 1-4, Sept. 2011.
- بهروز، ح.، باباخانی، ف. و سرکار، ع. (1388). "سامانه‌های مدیریت سرعت در نظام حمل‌و‌نقل و ترافیک"، تهران، شرکت کنترل ترافیک تهران.
 
- روشنی، غ. (1393). "نگاهی به علل تامه تصادفات"، تهران، نشر روشنی.
 
- روشنی، غ. و جوادنژاد، س. (1391). "بررسی تخصصی علل تصادفات رانندگی"، تهران، نشر روشنی.
- گلدوزیان، ا. و خزائی، الف. (1388). "شرح کامل تخلفات رانندگی و شیوه های قانونی اجرای آن"، تهران، موسسه انتشاراتی فرهنگی اشتیاق نور.
 
- مقدسی، م. و مقدسی، ر. (1388). "طراحی خودروهای هوشمند جهت افزایش ایمنی خودرو و پیشگیری از حوادث"،  دومین کنفرانس بین‌المللی شهر الکترونیک، تهران.
 
 - مهماندار، م. (1388). "درآمدی بر تصادفات و قوانین"، تهران، مرکز تحقیقات کاربردی پلیس راهنمایی‌و‌رانندگی ناجا.