Study on Control for Prevention of Collision Caused by Failure of Localization for Map-Based Automated Driving Vehicle

In demonstration experiments of automated driving vehicles, lane departures and collisions with roadside structures due to poor vehicle positioning and self -localization have been reported. In this study, we propose a promising method to prevent such depar-tures and collisions, and then validate the proposed method by applying it to an actual automated driv-ing vehicle. The proposed method monitors the tar-get steering angles computed by the automated driv-ing control and limits them before commanded the ac-tuator when there is a risk of colliding with obstacles. As the above-mentioned control is lower-level, it can prevent an automated driving vehicle from colliding with obstacles without complicating upper-level con-trols. Experiments on an actual automated driving ve-hicle showed that the steering control structure of the proposed method could prevent an automated driving vehicle from colliding with obstacles by limiting its tar-get steering angle. In addition, the method does not impose excessive limits on the steering angle when the automated driving vehicle follows a normal path and no risk of collision exists.