F2010-SC-P-38 A NEW GUIDANCE METHOD FOR THE COLLISION AVOIDANCE OF INTELLIGENT ROAD VEHICLES 1 Behroozi, Mohammad * , 2 Mashadi, Behrooz, 3 Najafi, Nima, 3 Najafi, Behzad, 4 Arabi, Samaneh 1 School of Mechanical Engineering, The University of Birmingham, Birmingham, UK 2 Mechanical Engineering Department, Iran University of Science and Technology, Tehran, Iran 3 Mechanical Engineering Department, KNT University of Technology, Tehran, Iran 4 Mechanical Engineering Department, Iran University of Science and Technology, Tehran, Iran KEYWORDS: motion planning, fuzzy logic, matrix road partitioning, collision avoidance. ABSTRACT An algorithm is introduced for vehicle navigation on roads and highways which is based on a virtual road partitioning concept. It is assumed that by using binary sensors to recognize the presence of the vehicle in cells of a virtual road matrix, this information can be made available to a communication center located near the road. Therefore, vehicles on the road can receive surrounding data from the center at every instant. This received information is fed into a two-layer expert fuzzy system in order to make decisions regarding the next motion of the vehicle. The first layer determines the state of a danger around the vehicle. The second layer in turn, determines the new path direction and speed for vehicle to ensure escaping from dangerous situations. The effectiveness of the method is examined for different scenarios in which the vehicle is expected to collide if no correcting action is undertaken. The results of simulations demonstrate suitability of maneuvers undertaken by the system to eliminate the danger of collision for automated-vehicles. Results vindicate the applicability of the new approach for collision avoidance of intelligent vehicles. INTRODUCTION Looking for new safety methods in order to reduce road accidents is one of the main concerns that have attracted many audiences during recent years. Nowadays, automotive researchers are competing to introduce new safety systems in order to reduce road accidents. In general, some methods are able to assign a likely danger threatening the driver, and alert him/her by using digital display screens. For intelligent vehicles similar information can be used by the control system for planning collision avoidance maneuvers. Collision avoidance systems, due to their extreme potential for increasing vehicle safety, have remarkably developed during these years. In fact in conditions that the driver cannot prevent incidents in view of human natural judgments in dangerous situations, collision avoidance systems are quite helpful. Therefore, these systems are capable to decrease the intensity of accidents and provide a safe travel for the passengers. A scientific report has declared that using collision avoidance systems can reduce more than half of the road accidents which happened in 1994 in United States [1]. Collision avoidance technologies have become a crucial category in road vehicle’s researches since 1960 [2]. The results of attempts to find classification of different scenarios in road vehicle, which cause the most accidents, are described in [3], and can be very useful to obtain a proper collision avoidance concept. In 1994, Adachi et al [4] designed several real-time simulations to keep the vehicle in its current lane. In [5] and [6], the equipment and