DOI: 10.1115/1.4032033
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Abstract: This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the friction limits through real-time generation and evaluation of bi-elementary paths. Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths give insight a…

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