2018
DOI: 10.1109/tits.2017.2778091
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Nondimensionalized Univariate Equation Characterizing Optimal State Feedback Control for Collision Avoidance

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Cited by 10 publications
(10 citation statements)
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“…When planning vehicle maneuvers there is usually freedom to not only find a feasible path, but also to optimize the trajectory according to a criterion. In the context of critical collision avoidance, examples of such criteria are to perform minimum-time lane change [13], [15], [21], minimum-distance lane change [22], [23], minimum-distance collision avoidance [6], or collision avoidance while minimizing the overshoot in the new lane [14]. Here, considering the wary strategy to be applied by the controller in Section V, the trajectory is planned for the minimum possible friction considering collision avoidance of a single obstacle.…”
Section: Center-of-mass Acceleration Referencementioning
confidence: 99%
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“…When planning vehicle maneuvers there is usually freedom to not only find a feasible path, but also to optimize the trajectory according to a criterion. In the context of critical collision avoidance, examples of such criteria are to perform minimum-time lane change [13], [15], [21], minimum-distance lane change [22], [23], minimum-distance collision avoidance [6], or collision avoidance while minimizing the overshoot in the new lane [14]. Here, considering the wary strategy to be applied by the controller in Section V, the trajectory is planned for the minimum possible friction considering collision avoidance of a single obstacle.…”
Section: Center-of-mass Acceleration Referencementioning
confidence: 99%
“…A common way to compare the strategies of straight-line braking and passing is to plot the relation between minimum passing distance and the velocity, with the friction coefficient µ and obstacle dimension B fixed [5], [21]. In [23], dimensionless variables are used to give a comparison plot that represents the full variation of parameters for minimum-distance lane-change maneuvers. The trade-off between straight-line braking and passing maneuvers is presented in Fig.…”
Section: ) Performance Comparisonmentioning
confidence: 99%
“…Other constraints than (2.10) on the accelerations can be used to model for example effects of load transfer and limited engine power [33]. An advantage of the friction-limited particle model is that for some scenarios there exist analytical solutions [34][35][36] and in other scenarios the solutions can be efficiently computed [37,38].…”
Section: Friction-limited Particle Modelmentioning
confidence: 99%
“…Funke and Gerdes [18] showed that these acceleration limits could be used to choose an appropriate emergency lane change trajectory from a family of clothoid paths. Emergency lane changes were also studied by Singh and Nishihara [19] and Shiller and Sundar [20] who showed that combining braking and steering minimize the distance required to avoid an obstacle. The problem of minimizing the deviation from a circular reference path when the vehicle's speed is too high for the corner was addressed by Klomp et al using optimal control theory [21].…”
Section: A Related Workmentioning
confidence: 99%