In this book, we provide a comprehensive overview of the current collision avoidance strategies for traditional vehicles and CAVs. First, the book introduces some emergency path planning methods that can be applied in global route design and local path generation situations which are the most common scenarios in driving. A comparison is made in the path-planning problem in both timing and performance between the conventional algorithms and emergency methods. In addition, this book introduces and designs an up-to-date path-planning method based on artificial potential field methods for collision avoidance, and verifies the effectiveness of this method in complex road environment. Next, in order to accurately track the predetermined path for collision avoidance, traditional control methods, humanlike control strategies, and intelligent approaches are discussed to solve the path-tracking problem and ensure the vehicle successfully avoids the collisions. In addition, this book designs and applies robust control to solve the path-tracking problem and verify its tracking effect in different scenarios. Finally, this book introduces the basic principles and test methods of AEB system for collision avoidance of a single vehicle. Meanwhile, by taking advantage of data sharing between vehicles based on V2X (vehicle-to-vehicle or vehicle-to-infrastructure) communication, pile-up accidents in longitudinal direction are effectively avoided through cooperative motion control of multiple vehicles. .eText ISBN: 9781681739403
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