Debreberhan University

College of Engineering
Department of Mechanical Engineering
MSC on Partial Fulfilment of Motor Vehicle
Engineering
Seminar title: Front Collision Avoidance Advanced Driver
Assistant System

Proposed by: Wondwesen Matewos

Id no: DBU1400560

February, 2023
Debreberhan, Ethiopia
Table of Contents
Abstract................................................................................................................................................... i
1. Introduction ................................................................................................................................... 1
1.1. Main problem and Importance of solving the problem ........................................................... 1
1.2. Applications and Benefit......................................................................................................... 1
2. Related work.................................................................................................................................. 2
2.1. Related works to solve this problem ....................................................................................... 2
2.2. Different or Novel solution ..................................................................................................... 7
3. Methodology .................................................................................................................................. 8
3.1. Summary of the approach/design ............................................................................................ 8
3.2. Implementation used ............................................................................................................... 8
3.3. Assumption of the authors ...................................................................................................... 9
3.4. Design trade-off ...................................................................................................................... 9
4. Critiques....................................................................................................................................... 10
4.1. Strong points ......................................................................................................................... 10
4.2. Weak points .......................................................................................................................... 10
5. Results .......................................................................................................................................... 11
5.1. Significant results.................................................................................................................. 11
5.2. Do the presented results back up the claims of the authors .................................................. 11
6. Discussion/Conclusion /Future work ......................................................................................... 12
6.1. Summary of the achievements .............................................................................................. 12
6.2. learning outcome of the seminar ........................................................................................... 12
6.3. Future work ........................................................................................................................... 12
6.4. Comments on the paper......................................................................................................... 12
Reference
Abstract
Now a day’s vehicle collisions is a major problem in the automotive world. This vehicle
accidents are happens by so many reasons but the two cases are the major ones. The first one
is sudden failure of vehicle systems (brake failure, tyre blast etc...) And the second one is when
the driver losses focus on the road. In most vehicle collisions the possibility of injury or death
of the driver or passenger next to the driver is increase in the alarming rate and also the vehicle
may also damage. For this reason the vehicle collision must be minimized as much as possible.
To minimize accidents it is must to stop the source of a problem. In the second case there is a
method to stop collision or to minimize the effect of collision by using modern intelligence
technologies for the vehicle to communicate with the driver either by giving warning signals
(like warning light and sound) or taking actions (for instance when the obstacle or other vehicle
came in to its radar reduce its speed and if there is enough space it can also steer in to safe
direction) if the driver do not respond to the warning signals. This seminar focused on this
solution.

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1. Introduction
1.1. Main problem and Importance of solving the problem
In automotive industry vehicle safety system is the most basic and necessary system. The
safety and comfort of the driver as well as passengers should be protected when the vehicle
traveled in different conditions. And also the safety of the vehicle should be considered. But in
real time vehicle accident is the headache of today automotive industry. It took a lot of life,
properties and cripple so many drivers as well as passengers. World health organization states
that from 2000-2019 road accident is included in top 10 cause of death.1 This is happening by
so many cases but two of them are the basic ones. They are the failure of components like brake
failure, steering locked, etc. And the other one and takes 90% of cause of vehicle accident2 is
error of the driver like losing focus acting reckless or aggressiveness, and so on. Now a days
as much as the malfunction or failure of systems or above all problems this problem is the
major problem. To avoid or to reduce mortality and major injuries by vehicle accidents it is
must to give assistance to the driver in order to control the vehicle properly.
The motivation of this seminar is to point out the best solution for vehicle accidents regardless
of the researches conducted in the past.

1.2. Applications and Benefit

Now a day’s vehicle technology gone too far to autonomous vehicle technology. From this
technology if we give the conventional vehicle some modifications for instance assisting the
driver by giving environmental situations continuously this helps the driver to take actions
without being nervous, in addition to that if the driver didn’t take action and did not respond to
the warning the vehicle respond to the emergency situation by taking emergency brake, steer
the vehicle or both by the requirement of the situation or scenario.
If the vehicle can save itself from the upcoming danger in front by assisting the driver or take
action by itself first thing the driver and also the passengers will be saved from harm this is the
basic because human life worth than everything else. Second if accident is not occur or
imminent the maintenance time will be less. This increase availability of the vehicle. It is fact
that safety systems are increase the total cost of the vehicle but when it is considered to their
function it will worth to the value.

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2. Related work
2.1. Related works to solve this problem
Wei Yang, Bo Wan, and Xiaolei Qu develop Front collision warning (FCW) system to avoid
late warning signal. A When the front vehicle slows down or the risk of rear-end collision
increases, the FCW system sends a warning. However, if the warning is provided too late, the
following vehicle may not have enough time to stop or slow down smoothly. And
Experimenters proposed a new FCW system that detects the driving intention of the front
vehicle to provide earlier warning. The method they proposed have three steps. First, the
driving intention of the front vehicle is determined by the driving intention recognition module.
Second, the driving intention and other driving parameters of the front vehicle are transmitted
to the following vehicle using vehicle-to-vehicle (V2V) communication. Finally, this
information and the driving parameters of the following vehicle are used to determine the
potential collision risk by the FCW module located in the second vehicle.3

To evaluate the proposed system they conducted a simulation test based on Pre-Scan and actual
road tests in various driving scenarios and they compare their result with other types of FCW
systems. The simulation test results demonstrated that the correct warning rate of the proposed
system was 97.67%, which was 6.34% higher than that of the system with a fixed time-to
collision (TTC) threshold. The real vehicle test results showed that the proposed system was
able to provide earlier warnings than the TTC-based system. The timely warning rate, i.e., the
ratio of the number of warnings at the beginning of braking to the total number of warnings
was 93.33%. 3

The proposed system by Wei Yang, Bo Wan, and Xiaolei proved effective for providing early
warning to the following vehicle under different driving conditions of the front vehicle.3

In addition to this they can work on the giving assistances on when is the last point to brake for
avoiding collision.

Mirosław Gidlewski and Dariusz Żardecki develop and simulate automatic control of
vehicle steering system during lane change. They work in theoretical aspects of the synthesis
of an automatic controller for the Electronic Power Steering (EPS) active steering system and
studies of an automatically controlled lane change maneuver illustrate the application of the
methodology. They stated that the basis for theoretical considerations and numerical studies is
the mathematic model of the controlled vehicle and the controller. The model of the controller
is based on a reference model which is significantly simplified and hence is highly effective

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for carrying out necessary computations in real time. An algorithm of the controller operating
as a Kalman regulator in a closed loop system is developed on the basis of this model. Feedback
signals provided by the sensors available in a typical Emergency Steering Control system
(lateral acceleration, yaw velocity) are used in the control process. 4

Simulation results refer to a two-axis truck travelling with a constant velocity on a straight,
uniform road. At certain time instant the vehicle starts executing the lane change maneuver.
Simulations were carried out for a number of cases with varying model parameters. That
allowed estimating the sensitivity of the control algorithm to both perturbations of vehicle’s
physical and operational parameters and to perturbations of parameters related to the obstacle.

The results of simulations show that the proposed concept of the vehicle automatic control
performs well in computational tests. The method of automatic execution of the lane change
maneuver presented in the paper can offer an attractive alternative for vehicle control engineers
and researchers working in the fields of active steering systems of vehicles, including
commercial trucks.

Alfred Eckert states that Emergency brake assistant system is effective when the vehicle
moves at low velocity. When the vehicle moves with low speed the driver can avoid accident
when emergency brake tells something to happen if the driver act fast that is before the last
point to brake it is possible to avoid by using only brake system. If the vehicles is at high
velocity only Emergency Brake Assistant System is not enough. In the addition to the
Emergency brake assistant system he advise it is must consider Emergency Steering Assistant
System.

He conduct his experiment on response to imminent crash avoidance behavior of the drivers
and finally to integrate this result with the assistance functionality. He create a three phase
imminent crash scenario. For this test he select different age, experience and sex group people
as a subject and register their behavioral response for imminent crash with in the subjects
assigned time to impact collision by sitting as co-driver. He uses test vehicle for three phases
test, with in different time to collisions in the experiment track. 5

From the test he get when the time to collision is very less the rate of collision is 100% and
when it is long the collision rate is zero. And the subject drivers take different methods to avoid
collision. From this test he classify hazardous situations in to three (warning, imminent crash,
and pre-crash) and conclude that time to collision has high effect on the collision avoidance

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system. And conclude that integrating emergency brake assistance system with steering
assistance system is the next logical thing in the automotive industry.5

Li Yulong, Xuewu Ji, Xiangkun He and Chen Lv stated that Collision avoidance and
stabilization are two of the most crucial concerns when an autonomous vehicle finds itself in
emergency situations, which usually occur in a short time horizon and require large actuator
inputs, together with highly nonlinear tyre cornering response. In order to avoid collision while
stabilizing autonomous vehicle under dynamic driving situations at handling limits, the
experimenters proposed a shared control method of semiautonomous vehicle was proposed for
obstacle avoidance and stability control using two safe driving envelopes. In this method, one
of the envelopes was defined by vehicle driving limits, and the other by spatial limitations
imposed by lane boundaries and obstacles. In addition, a (Model predictive Control) MPC-
based strategy determined at each time step whether the current driver’s command allowed for
a safe vehicle path within these two envelopes, intervening only when such a path did not exist.
A dual envelop-oriented path-tracking scheme for autonomous vehicle was described in, in
which the shape of vehicle was considered as inner-envelop and the feasible road region was
described as outer-envelop. This is a novel emergency steering control strategy based on
hierarchical control architecture consisting of decision-making layer and motion control layer.6

In decision-making layer, a dynamic threat assessment model continuously evaluates the risk
associated with collision and destabilization, and a path planner based on kinematics and
dynamics of vehicle system determines a collision-free path when it suddenly encounters
emergency scenarios. In motion control layer, a lateral motion controller considering
nonlinearity of tyre cornering response and unknown external disturbance is designed using
tyre lateral force estimation-based back stepping sliding-mode control to track a collision-free
path, and to ensure the robustness and stability of the closed-loop system. 6

They state that both simulation and experiment results show that the proposed control scheme
can effectively perform an emergency collision avoidance maneuver while maintaining the
stability of autonomous vehicle in different running conditions.

Sumeet Bhardwaj, Ashwani Gulati, Kashish Goyal, and Vivek Vij conduct the project on
Automatic Emergency Braking (AEB) to helps apply brakes automatically under the condition
of emergency and helps to mitigate the severity of a crash. The researchers studies on designing
and working of automatic emergency braking system using Mechatronics system. They
proposed system which uses Ultrasonic Sensors with the combined use of Stereo Cameras that

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will detect an obstacle in front of the vehicle and it will tell us the relative distance between the
obstacle and the vehicle. The ECU will then judge if an accident is likely to happen or not and
the brakes will be applied automatically under this system.7

Pooja Pusdekar, Shweta Dhargawe, Sonali Kailaswar, and Monali Maske worked on using
active steering control to increase safety and to reduce both accidents and drivers work load.
The objective of this project is to design and develop a steering control system for the path
tracking of autonomous vehicle & to understand the stability of the vehicles on curved road.
An autonomous vehicle that can drive itself to a destination without its driver have to recognize
the driving Environment. Experimenters described a steering control system for the path
tracking of autonomous vehicles. The steering controller controls the steering actuator to follow
the desired steering angle. A servo motor is installed to control the steering handle. GPS shows
the geographical coordinates which specifies any given location on the earth surface as latitude
and longitude. Ultrasonic sensor used for detecting the obstacles. A magnetometer compass
shows the quadrants. Arduino uno board is used like a mother board in this project. Finally
they manufacture a mini model. They didn’t analyze it. but In their project they can describe
the operation range of the model to analyze and predict the actual vehicle response.8

Junnan Yin, Dequan Zhu, Juan Liao, Guangyue Zhu, Yao Wang and Shun Zhang studies
the autonomous vehicle steering technology for the agricultural uses. Specifically for rice
transplanter. To control automatic steering controls an automatic steering control algorithm is
essential. For this work experimenter proposed combining the fuzzy control with the
proportional-integral-derivative (PID) control and the kinematics model, a compound fuzzy
PID controller was proposed to adjust the real time data of the PID parameters for the automatic
steering control. The rice transplanter was then modified with the new controller. 9

Then an automatic steering control experimental with the modified transplanter was carried out
under two conditions of linear tracking and headland turning in verifying the automatic steering
act of the transplanter in different steering angle situations. 9

The results showed that the deviation with the new controller and the modified transplanter was
acceptable, with maximum deviation in linear tracking of 7.5 cm, the maximum headland
turning a deviation of 11.5 cm, and the average a deviation of less than 5 cm. In conclusion,
within the allowable deviation range of the field operation of the rice transplanter, the proposed
algorithm successfully realized automatic steering controls of the transplanter under different
steering angles.9

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Abhishek Pushpakanth, Mangesh N. Dhavalikar Converts manual steering system and
develop automatic steering control system to reduce accident occur by driver behavior or error.
Experimenters introduce a combination of PID (Proportional Integral Derivative) controller
and an encoder. It is basically used to control the system based on the necessary conditions and
requirements. The vehicle steering operates with the help of servomotors, encoders, PID
microcontroller and data which it receives through the software. In the test the vehicle takes
the reference of the trajectory points to make a turn and the steering angle is generated using
plotted trajectory points and generated encoder pulses. As a result with the implementation of
steering control system manual intervention will not be necessary to operate the vehicle’s
steering.10

Mohammad Reza Seyedi, Mohammad Reza Koloushani, Sungmoon Jung, and Arda
Vanli Perform four real world rear end crash scenarios with different crash characteristics.
Vehicles involved in those crashes were not equipped with any crash avoidance systems. Then
used the accident reconstruction method to build those crash scenarios in PC-Crash software.
Different Forward Collision warning FCW and automatic emergency brake AEB safety
algorithms have been defined for a subject vehicle model in each crash scenario and each
scenario was simulated for a set of input parameters such as vehicle speed, brake intensity, and
driver reaction time. Range and distribution of input parameters were extracted from the related
field crash data and available literature. A total number of 16000 simulations have been
conducted which produced input-output datasets for further investigations. Finally, the effects
of input parameters on simulation outcomes including crash occurrence, AEB activation, injury
risk, and vehicle damage have been quantified using the Boruta algorithm.11

Results indicated that the overall effectiveness of the AEB system was a 57% reduction of rear-
end crashes, a 52% reduction of injury severity (striking vehicle’s passengers), and a 47%
reduction of damages for striking vehicles. Results also showed that the available AEB
algorithms were more effective for the average speed equal to or less than 80 kmph. Speed of
the subject vehicle, type of AEB algorithm, sensor detection range, and driver reaction time
were the most important parameters on crash outcomes. In addition, the results indicated that
the performance of FCW had a direct impact on the effectiveness of the AEB system for the
integrated FCW and AEB system.11

Miguel Angel Olivares-Mendez, Jose Luis Sanchez-Lopez, Felipe Jimenez, Pascual

Campoy, Seyed Amin Sajadi-Alamdari, and Holger Voos develop vision based steering
control and speed assistance system to minimize the cost and sophistication of the steering

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assistant system. The proposed solution use of a single monocular camera sensor for an
automatic steering control, speed assistance for the driver and localization of the vehicle on a
road. Here in, they assume that the vehicle is mainly traveling along a predefined path, such as
in public transport. A computer vision approach is presented to detect a line painted on the
road, which defines the path to follow. Visual markers with a special design painted on the road
provide information to localize the vehicle and to assist in its speed control. Furthermore, a
vision-based control system, which keeps the vehicle on the predefined path under inner-city
speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit
finally prove the applicability of the derived approach. In these tests, the car reached a
maximum speed of 48 km/h and successfully traveled a distance of 7 km without the
intervention of a human driver and any interruption.12

In addition to their work they didn’t discuss the emergency scenarios in real time there is no
obstacle free road.

2.2. Different or Novel solution

Now a days there are different methods of avoiding front collision. Usually Manufacturers use
Front collision warning and automatic emergency brake systems. Most advanced driver
assistance systems (ADAS) is used to prevent or reduce vehicle accidents. Therefore this
seminar proposed additional integrated active safety system which is automatic emergency
steering system integrated with the common safety ADAS front collision warning and
automatic emergency brake system.
Automatic emergency steering uses sensors to detect potential collisions with a vehicle ahead
and automatically steers the vehicle to avoid a collision or make it less severe, detect
pedestrians or other objects, can help steer when the drivers steering isn't enough to avoid a
collision, and can help steer even if a driver doesn't move the steering wheel to avoid a collision.

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3. Methodology
3.1. Summary of the approach/design
In the different experiments the researchers use the different technique of approaches or design
techniques some of the research works design methods to control vehicle collisions for
instance:
Miguel Angel Olivares-Mendez and the associates develop vision based vehicle control system
and designed equipped the passenger vehicle with cameras and the camera can see YUV lights
and authors give reference line and execute experiment by using different types of software
and different types of logics and in the experiment the vehicle is derived autonomously for 13
laps of the test track from 14 to 42 kmph. The authors conduct how the vehicle operates as per
the given drive line. This helps us to analyze how to control the vehicle steering.
Mohammad Reza Seyedi and the follow experimenters conduct the experiments by using PC
crush software by creating four stage real world rear end crash scenarios. The first stage is
accident recognition and the second is identify simulation parameters then simulation process
continue and finally post processing conduct in this stage thee result produced by simulator
software analyzed.
Wei Yang and the follow experimenters proposed FCW system includes two modules: the
driving intention recognition module and the FCW module that uses V2V communication.
First, the driving intention recognition module determines the driving intention of the front
vehicle using a double-layer hidden Markov model (HMM). Second, this information and other
related driving parameters of the front vehicle are transmitted to the following vehicle using
V2V communication. The FCW module then determines whether an FCW should be given
based on the relative distance that is detected by the system and the transmitted information
from the front vehicle.
Xiangkun He and the follow experimenters design the decision making layer and motion
control layer. The authors design of decision making layer consists dynamic threat assessment
model and path planer and utilized the design based on fifth-order polynomial equation,
calculates a collision-free trajectory considering the limitations of kinematics and dynamics
when an autonomous vehicle run into an emergency situation. And also, in the motion control
layer design they focused on the lateral force of tyre and estimate back-stepping sliding mode
control strategy. Then simulates the design with autonomous vehicle simulator.
The other experimenters design the system by using different method of sensor and actuator
combinations and only produce the model system.
From the description techniques the best method to conduct research in integrated emergency
steering with front collision warning and automatic brake assisting system is to design the
control system and produce the prototype and analyzed the designed system response.

3.2. Implementation used

Different researchers use different approaches to avoid front end collision the first method is
give warning to the driver as fast as possible by using algorithms and sensors for detect
environment around the vehicle. And they simulate the system by using software as well as test
drives in order to evaluate the system performance.

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The other method is using Emergency Brake Assisting system. This system monitors the
vehicle ahead to keep safe distance, for this method the researchers use a combination of
different sensors and algorisms to for the sensors and actuators to communicate each other with
the help of controller.

3.3. Assumption of the authors

Wei Yang and the fellow researchers assume that the braking and acceleration behaviors are
independent of each other, the front and following vehicles were in the same lane and only
considered the potential collision between the two vehicles in the same lane for the proposed
FCW model considered four situations: the front vehicle traveled at a constant speed,
acceleration, normal deceleration, and emergency deceleration, the road friction was negligible
and the parameters of maximum acceleration of front vehicle and following vehicle were
defined as 6 m/s2, and the information transmission time between the two vehicles was very
short and relative speed was constant during this time.
Mirosław Gidlewski and start their work by assuming that an obstacle suddenly appears on a
straight section of the road in front of the travelling vehicle, then vehicle starts braking until
the time instant the control system discovers that further braking leads to a crash. After
automatic monitoring of obstacle surroundings, if conditions allow for that, the rotation of the
steering wheel is activated automatically in order to avoid the obstacle while travelling with a
constant velocity that was reached at the final stage of braking. At the end of the maneuver
vehicle should travel on the lane parallel to the primary lane.
Mohammad Reza Seyedi and the crew assumed that the four real-world rear-end crashes were
reconstructed assuming that the vehicles were equipped with the antilock braking system.

3.4. Design trade-off

Researchers use the electronically controlled systems (like mechatronic systems, control
vehicle by using of ariduno and supplementary sensors and so on), software simulations (like
car sim, PC crash), test models ect… as the advantage of their work.

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4. Critiques
4.1. Strong points
Researchers point out why the collision avoidance system is needed, and give better solutions
for the problem.
Vehicle to vehicle communication is fastest way of giving information to the driver when the
potential collision threat is occur.
Lean change has major effect on the automatic active emergency system.
Drivers’ response behavior for emergency situations has the major role in the vehicle control
during accident.
During accident vehicle control with proper stability is the main thing if not the vehicle control
without stability control may cause accident.
To reduce vehicle accidents Advanced Emergency Braking System is one of the best options.
Autonomous vehicles reduce vehicle accidents occurred by drivers error

4.2. Weak points

If the equipped sensors didn’t give the correct information about the vehicle environment the
system did not respond correctly what is the remedy to this should be included.
All system uses for safety system have different hard wares, sensors, software they all need
electric supply. In other words they consume energy from engine. Therefore it is necessary to
study the energy consumption of the systems.
In researches the advantages of using the systems are given in addition to this it is better to give
what is the limitation of the system. This will improve the system for the future.
In most of the researches addressed in the literature review they use abbreviations without the
describing what it represents.

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5. Results
5.1. Significant results
Wei Yang and the follow experimenters proposed FCW system gives 97% accuracy in the
driving intension. And the correct warning rate of the proposed method is 97% and the false
warning rate is 3.3% the timely rate of the proposed FCW algorism is 93.33%. When the
authors compare it with the time to collision fixed algorithm method of warning system the
proposed method is better.
In Mirosław Gidlewski and fellow researcher obtained for the fully loaded truck, with the
low position of the center of mass, on slippery pavements (friction coefficient of μ =0.1-
0.3), and with vehicle velocities of 60-80km/h, with results of simulations all tests that were
carried out the obstacle avoidance maneuver was accomplished successfully. The
automatically controlled vehicle was able to avoid the obstacle without losing directional
stability, even though the conditions of vehicle operation were changing in a broad range.
Alferade Ekert conduct experiment on the behavior of the drivers and from the 3 phase
research author gets the following results
By the questioner the researchers get that all the test drivers are frighten when the accident
scenario occur. And also from measurement the researcher get from test drivers those
simulated for 1.5 sec time to collision (TTC) 43% get side collision and 57% get frontal
collision, from those tested for 2 sec TTC 38% of them get frontal collision the rest test
drivers can avid accident, finally from the test driver simulated for 2.5 sec TTC all of them
can avoid accident.

5.2. Do the presented results back up the claims of the authors

In the case of Wei Yang case the authors claim the expected output as the point out problem.
From the result Mirosław Gidlewski conclude that it can be stated that the proposed concept
of control and the developed regulators proved to be insensitive to varying road conditions,
and with that, the control approach appeared to be effective in realization of the lane change
maneuver on the shortest path possible.
Alfred Ekert losses author’s initial point because the author initially states to develop
systematical a systematic approach for system integration of two complementary driver
assistance systems but he only did drivers behavioral approach for accident, and steering
measurements during accident scenario. Therefore by this test only author conclude that
emergency brake system must integrated with emergency steering system.

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6. Discussion/Conclusion /Future work
6.1. Summary of the achievements
In overall vehicle accident using Front Collision Warning system and Automatic
Emergency assistant systems are reduced about 27% of vehicle accidents. Most of the
researchers seen in the literature review state their work practically and also in theoretical
simulations. The results shown that their work is best in their own way.

6.2. learning outcome of the seminar

From this seminar I understand how front collision avoidance system works and what types
of collision avoidance techniques are used in the vehicle industry and by how essential is
the automatic vehicle safety system. In addition to this I get much understanding on how
to prepare research papers and different ways of conduct to conduct research. And also,
different design and simulation techniques for me to use in my future work.
6.3. Future work
Most of the research works are done on the autonomous emergency steering systems. But
conventional vehicles are need also Automatic Emergency Steering System. In the future
if conventional vehicle uses Automatic Emergency Steering System integrated with FCW
and AEBS, it will offer better results to avoid vehicle front end accidents.
6.4. Comments on the paper
In regardless of the related research works the papers use different technique of writing.
Some of them use design and numerical analysis and designs and the others simulate the
product without producing the real product with only the help of software. Others only
produce their product. Some of the researchers out of their aims.

“Make Your Vehicle Self Proactive To Avoid Accident!”

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