Emergency Lane-Change Maneuvers of Autonomous Vehicles

@article{Shiller1998EmergencyLM,
  title={Emergency Lane-Change Maneuvers of Autonomous Vehicles},
  author={Zvi Shiller and Satish Sundar},
  journal={Journal of Dynamic Systems Measurement and Control-transactions of The Asme},
  year={1998},
  volume={120},
  pages={37-44}
}
  • Z. Shiller, S. Sundar
  • Published 1 March 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… 

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