Emergency Maneuvers of Autonomous Vehicles

Shiller, Zvi; Sundar, Satish

doi:10.1016/s1474-6670(17)58995-8

Cited by 7 publications

(6 citation statements)

References 6 publications

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“…Previous work on swerve maneuvers for autonomous driving have often focused on feasible maneuvers according to various kinodynamic models [10], [11]. In particular, many of these papers have assumed some variant of the bicycle model [12]- [15] and performed optimization to generate optimal swerve maneuvers. However, under these models the optimal solution is not generated through a closed form solution, which makes formally proving safety challenging.…”

Section: B Related Workmentioning

confidence: 99%

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Universally Safe Swerve Maneuvers for Autonomous Driving

Iaco¹,

Smith

Czarnecki

2021

IEEE Open J. Intell. Transp. Syst.

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This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive Safety (RSS) framework. We extend RSS by introducing swerve maneuvers as a valid response in addition to the already present brake maneuver. These swerve maneuvers use the more realistic kinematic bicycle model rather than the double integrator model of RSS. When vehicles are able to swerve or brake, it is shown that their required safe following distance at higher speeds is less than that required through braking alone. In addition, when all vehicles follow this new distance, they are provably safe. The use of the kinematic bicycle model is then validated by comparing these swerve maneuvers to that of a dynamic single-track model. The analysis in this paper can be used to inform both offline safety validation as well as safe control and planning.

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Section: B Related Workmentioning

confidence: 99%

“…We can now compute the θ max required to satisfy the boundary conditions in Equation (12). From the rear axle, the two circular arcs are symmetrical in lateral distance traveled, Fig.…”

Section: B Swerving For a Braking Vehiclementioning

confidence: 99%

Universally Safe Swerve Maneuvers for Autonomous Driving

Iaco¹,

Smith

Czarnecki

2021

IEEE Open J. Intell. Transp. Syst.

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“…A first step in our analysis is a strict comparison between the rover's trajectories obtained through the integration of the kinematic [31] and dynamical equations. The kinematic approach does not depend on the properties of the soil, which strongly impact on the rover's dynamical forces.…”

Section: Trajectory Integration With the Dynamical Modelmentioning

confidence: 99%

Model-Based Slippage Estimation to Enhance Planetary Rover Localization with Wheel Odometry

2021

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The exploration of planetary surfaces with unmanned wheeled vehicles will require sophisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.

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“…Previous work on swerve manoeuvres for autonomous driving have often focused on feasible manoeuvres according to various kinodynamic models [9]. In particular, many of these papers have assumed some variant of the bicycle model [10]- [13] and performed optimization to generate optimal swerve manoeuvres. However, under these models the optimal solution is not generated through a closed form solution, which makes formally proving safety challenging.…”

Section: B Related Workmentioning

confidence: 99%

Universally Safe Swerve Manoeuvres for Autonomous Driving

De Iaco,

Smith,

Czarnecki

2020

Preprint

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This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive Safety (RSS) framework. We extend RSS by introducing swerve manoeuvres as a valid response in addition to the already present brake manoeuvre. These swerve manoeuvres use the more realistic kinematic bicycle model rather than the double integrator model of RSS. When vehicles are able to swerve and brake, it is shown that their required safe following distance at higher speeds is less than that required through braking alone.In addition, when all vehicles follow this new distance, they are provably safe. The use of the kinematic bicycle model is then validated by comparing these swerve manoeuvres to that of a dynamic single-track model.

show abstract

Emergency Maneuvers of Autonomous Vehicles

Cited by 7 publications

References 6 publications

Universally Safe Swerve Maneuvers for Autonomous Driving

Universally Safe Swerve Maneuvers for Autonomous Driving

Model-Based Slippage Estimation to Enhance Planetary Rover Localization with Wheel Odometry

Universally Safe Swerve Manoeuvres for Autonomous Driving

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