Emergency Lane-Change Maneuvers of Autonomous Vehicles

  title={Emergency Lane-Change Maneuvers of Autonomous Vehicles},
  author={Z. Shiller and S. Sundar},
  journal={Journal of Dynamic Systems Measurement and Control-transactions of The Asme},
  • Z. Shiller, S. Sundar
  • Published 1998
  • Engineering
  • Journal of Dynamic Systems Measurement and Control-transactions of The Asme
This paper addresses the issue of collision avoidance using lane-change maneuvers. Of particular interest is to determine the minimum distance beyond which an obstacle cannot be avoided at a given initial speed. Using a planar bicycle model, we first compute the sharpest dynamically feasible maneuver by minimizing the longitudinal distance of a lane transition, assuming given initial and free final speeds. The minimum distance to an obstacle is then determined from the path traced by the… Expand
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  • Mathematics, Computer Science
  • IEEE Transactions on Automatic Control
  • 2004
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  • 2001
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