Driver assistance algorithm for automotive collision avoidance using optimization feasibility

This paper considers a collision avoidance problem of the vehicle and the moving obstacle. The prohibited region is defined for the vehicle and the obstacle considering a specified size of them. The problem is formulated as a mixed integer programming problem. In the problem the obstacles and environments around the automobile can be represent as inequality conditions. Then the driver assistance algorithm for the collision avoidance using the feasibility of the optimization is proposed. Computer simulation shows that the proposed algorithm can provide appropriate control input for collision avoidance.