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Intelligent autonomous driving assistant to avoid obstacles and collisions

Abstract:

This article presents the implementation of an intelligent autonomous driving assistant, with the purpose of preventing collisions due to the lack of carelessness of drivers. To achieve what is required, a graphic environment is developed in Unity 3D, in which the user can interact through haptic devices with the vehicle. For the vehicle, the kinematic model of a car-like robot, modeled in Matlab, is taken as a reference, which allows it to recreate the behavior of a real vehicle. Obstacle avoidance occurs when an object is in the vehicle’s trajectory and exceeds the minimum maneuvering distance, in which case the controller makes the evasion, positions the vehicle within the original trajectory and returns control to the driver. During this evasion process there is a force feedback on the steering wheel, which rotates according to the position of the obstacle.