HARDWARE-IN-THE-LOOP SIMULATION (HILS) OF AN INTELLIGENT COLLISION AVOIDANCE ALGORITHM

This paper presents cost-effective and safe HILS of an intelligent collision avoidance algorithm. The proposed HILS system is composed of a brake system hardware that is interfaced with a fast digital signal processor in which collision avoidance algorithms for various emergency collision avoidance maneuvering scenarios as well as a realistic vehicle dynamics model can be simulated in real-time. An intelligent collision avoidance algorithm with stability augmentation by active yaw moment control is proposed and is tested by HILS for rapid and safe control prototyping in a lab. Simulation results show that the proposed algorithm may be used as a feasible collision avoidance strategy and that the HILS test environment may be used as a partial replacement of series of time-consuming prototype ITS vehicle test on an AHS. For the covering abstract see IRRD E102946.