A lane change warning system is proposed, which gets the surrounding vehicle' motion states based on V2V communication. The safe distance between ego-vehicle and rear vehicle in target lane is analyzed according to the goal of both collision avoidance and vehicle following safety. Safe distance between ego-vehicle and front vehicle in target lane is analyzed to ensure safety in emergency collision avoidance. Safe distances between ego-vehicle and front and rear vehicles in original lane are analyzed to realize safe following. Meanwhile, driving style index is proposed to adapt the warning system to different kinds of drivers. Simulation results show that the lane change warning system can make a composite analysis of the collision risk during the lane-changing, and provide an accurate real-time warning to assist drivers. Index Terms-lane change warning, minimum safe distance, collision warning, V2V communication, driver assist system Manuscript received May 4th, 2014. Dang Ruina is with China North Vehicle Research Institute,
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along different directions, which significantly affects the safety of quadruped robot navigation. This paper proposes a navigation framework that takes into account the motion anisotropy of quadruped robots including kinodynamic trajectory generation, nonlinear trajectory optimization, and nonlinear model predictive control. In simulation and real robot tests, we demonstrate that our motion-anisotropy-aware navigation framework could: (1) generate more efficient trajectories and realize more agile quadruped navigation; (2) significantly improve the navigation safety in challenging scenarios. The implementation is realized as an open-source package at https://github.com/ZWT006/agile navigation.
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