Hazard Anticipatory Autonomous Braking Control System Based on 2-D Pedestrian Motion Prediction

Kazuhiro Ezawa^, Pongsathorn Raksincharoensak^, and Masao Nagai^

^*Department of Mechanical Systems Engineering, Faculty of Engineering, Tokyo University of Agriculture and Technology
2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

^**Department of Industrial Technology and Innovation, Faculty of Engineering, Tokyo University of Agriculture and Technology
2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

^***Japan Automobile Research Institute
1-1-30 Shibadaimon, Minato, Tokyo 105-0012, Japan

Received:

June 29, 2015

Accepted:

October 1, 2015

Published:

December 20, 2015

Keywords:

active safety, driver assistance systems, collision avoidance, autonomous braking

Abstract

The focused scenario

This paper discusses 2-dimensional (2-D) pedestrian motion prediction and autonomous braking control for enhancing the collision avoidance performance of an active safety system. The paper targets a typical scenario involving a pedestrian walking toward a parked vehicle on a crowded urban road. The pedestrian is not expected to continue walking in a straight line. Conventional first-order motion prediction accuracy alone is not enough to predict the pedestrian motion because prediction is based on the pedestrian’s current position and velocity within a finite time. We formulated a 2-D pedestrian motion model of the parked vehicle based on learning the measured trajectory of pedestrians in the same scenario. We then designed an autonomous braking control system based on whether the vehicle will overtake a pedestrian. We evaluated the validity of the proposed autonomous braking control system in simulation experiments.

Cite this article as:

K. Ezawa, P. Raksincharoensak, and M. Nagai, “Hazard Anticipatory Autonomous Braking Control System Based on 2-D Pedestrian Motion Prediction,” J. Robot. Mechatron., Vol.27 No.6, pp. 636-644, 2015.

Data files:

References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Hazard Anticipatory Autonomous Braking Control System Based on 2-D Pedestrian Motion Prediction

Kazuhiro Ezawa*, Pongsathorn Raksincharoensak**, and Masao Nagai***

Kazuhiro Ezawa^, Pongsathorn Raksincharoensak^, and Masao Nagai^