Optimization of emergency trajectories for autonomous vehicles with respect to linear vehicle dynamics

@article{Hirsch2005OptimizationOE,
  title={Optimization of emergency trajectories for autonomous vehicles with respect to linear vehicle dynamics},
  author={Kelly Hirsch and Joachim Hilgert and Wildan Lalo and Dieter Schramm and Manfred Hiller},
  journal={Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.},
  year={2005},
  pages={528-533}
}
This paper looks at a trajectory planning strategy for autonomous vehicles. The pre-defined nominal trajectory is analyzed with reference to obstacles modeled from circular safety areas. Based on the results of this analysis an emergency trajectory is calculated by using the method of elastic bands. The behavior of the trajectories calculated with this method has been proven to provide flexible trajectories with minimal changes of curvature and therefore good driveability. However in a second… CONTINUE READING

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