NDLI: Object related reactive offset maneuver

Content Provider	IEEE Xplore Digital Library
Author	Hecker, F. Luettel, T. Wuensche, H.-J.
Copyright Year	2010
Description	Author affiliation: Institute for Autonomous Systems Technology (TAS), University of the Bundeswehr Munich, 85577 Neubiberg, Germany (Hecker, F.; Luettel, T.; Wuensche, H.-J.)
Abstract	This paper describes a method for an object related reactive offset maneuver increasing the number of action alternatives for an autonomous ground vehicle. The method improves a variety of time-critical maneuvers as for example merging into moving traffic, changing lanes, passing other traffic participants as well as emergency obstacle avoidance without having to replan a path using high-level planning methods. It is especially targeted at autonomous driving on country roads. As oncoming traffic increases the relative speed between participants, a quick reponse to changes of the traffic situation are critically important. Moreover the method does not require constant vehicle velocities throughout a lane change maneuver as most existing approaches do. Simulations show improvements of the behaviour capabilities of an autonomous vehicle using the presented lateral reactive offset maneuvers.
Starting Page	1092
Ending Page	1097
File Size	652004
Page Count	6
File Format	PDF
ISBN	9781424478668
ISSN	19310587
e-ISBN	9781424478682
DOI	10.1109/IVS.2010.5548068
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-21
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Mobile robots Traffic control Vehicle driving Control systems Vehicle safety Merging Road vehicles Road transportation Vehicle dynamics
Content Type	Text
Resource Type	Article

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