Title: A review on threat assessment, path planning and path tracking strategies for collision avoidance systems of autonomous vehicles

Authors: Umar Zakir Abdul Hamid; Yuichi Saito; Hairi Zamzuri; Mohd Azizi Abdul Rahman; Pongsathorn Raksincharoensak

Addresses: Sensible 4 Oy, Espoo, Finland; Vehicle System Engineering iKohza, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100, Kuala Lumpur, Malaysia ' Department of Mechanical Systems Engineering, Tokyo University of Agriculture & Technology, Nakacho 2-24-16, Koganei, Tokyo, 184-8588, Japan ' Vehicle System Engineering iKohza, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100, Kuala Lumpur, Malaysia ' Vehicle System Engineering iKohza, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100, Kuala Lumpur, Malaysia ' Department of Mechanical Systems Engineering, Tokyo University of Agriculture & Technology, Nakacho 2-24-16, Koganei, Tokyo, 184-8588, Japan

Abstract: The growth of automation sector has brought numerous autonomous technology developments in many sectors, especially automotive. The autonomous features are proven to be helpful in reducing road fatalities globally. Advanced Driver Assistance Systems (ADAS), a system which helps the driving process automation, has growing roles in recent road vehicle features. It is the base for the development of a fully autonomous vehicle. One of the main features of ADAS is Collision Avoidance (CA) system. A sufficient CA architecture usually encompasses threat assessment, path planning and path tracking strategies. There are many ways of developing precise CA architecture using the combination of these strategies. This paper aims to review current available methods for CA as an introductory idea for researchers who are new to this field. Each of the methods in each strategy is categorised into several groups. Their advantages and drawbacks are discussed. In addition to that, several improvement suggestions for a comprehensive CA system were highlighted.

Keywords: collision avoidance; threat assessment; path planning; path tracking; ADAS; active safety; autonomous vehicle; review.

DOI: 10.1504/IJVAS.2018.096154

International Journal of Vehicle Autonomous Systems, 2018 Vol.14 No.2, pp.134 - 169

Received: 10 Oct 2017
Accepted: 29 Jul 2018
Published online: 13 Nov 2018 *

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