A proposal of collision avoidance algorithm for driving support system

We propose a collision avoidance algorithm for a driving support system. This algorithm always observes whether a vehicle is inside the safety limit, and starts controlling the vehicle in the place of the human driver just before going into the dangerous zone where even the system cannot avoid collision. The inputs to the vehicle are the accelerator, the brakes and the steering wheel. The system controls the vehicle by three inputs. The vehicles communicate the three state data, the speed, the position of the coordinates and the direction, with each other. The algorithm derives the best movement to avoid a collision without control data of the other vehicle. In the end, the vehicles avoid collision at the limit of the safety distance and time. In this paper, we give explanations of the algorithm process, and inspection results with a simulator.