Development of a Collision Avoidance Algorithm Using Elastic Band Theory

This paper presents a new Collision Avoidance (CA) Algorithm which uses Elastic Band Theory. Researchers tried to develop warning systems to avoid collisions which warn drivers of possible collision risk with audio and or visual signs. However, these systems are not sufficient for avoidance of a collision in situations where the driver gives no response to the warnings. CA System is a kind of Active Safety System which takes control of the vehicle for a couple of seconds and applies emergency maneuver when the collision is unavoidable through driver action alone. The proposed CA algorithm uses Elastic Band Theory which is an obstacle avoidance method used in robotics. This paper aims to introduce this theory applied with modifications to road vehicle based systems and presents realistic simulation results using high fidelity vehicle models with several different collision scenarios.