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Lane-deviation penalty formulation and analysis for autonomous vehicle avoidance maneuvers

Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars (2021) In Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235(12). p.3036-3050
Abstract

Autonomous vehicles hold promise for increased vehicle and traffic safety, and there are several developments in the field where one example is an avoidance maneuver. There it is dangerous for the vehicle to be in the opposing lane, but it is safe to drive in the original lane again after the obstacle. To capture this basic observation, a lane-deviation penalty (LDP) objective function is devised. Based on this objective function, a formulation is developed utilizing optimal all-wheel braking and steering at the limit of road–tire friction. This method is evaluated for a double lane-change scenario by computing the resulting behavior for several interesting cases, where parameters of the emergency situation such as the initial speed of... (More)

Autonomous vehicles hold promise for increased vehicle and traffic safety, and there are several developments in the field where one example is an avoidance maneuver. There it is dangerous for the vehicle to be in the opposing lane, but it is safe to drive in the original lane again after the obstacle. To capture this basic observation, a lane-deviation penalty (LDP) objective function is devised. Based on this objective function, a formulation is developed utilizing optimal all-wheel braking and steering at the limit of road–tire friction. This method is evaluated for a double lane-change scenario by computing the resulting behavior for several interesting cases, where parameters of the emergency situation such as the initial speed of the vehicle and the size and placement of the obstacle are varied, and it performs well. A comparison with maneuvers obtained by minimum-time and other lateral-penalty objective functions shows that the use of the considered penalty function decreases the time that the vehicle spends in the opposing lane.

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Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Active safety systems, at-the-limit operation, double lane change, intelligent vehicles, passenger vehicles, vehicle control systems, vehicle dynamics
in
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
volume
235
issue
12
pages
3036 - 3050
publisher
SAGE Publications
external identifiers
  • scopus:85104134267
ISSN
0954-4070
DOI
10.1177/09544070211007979
language
English
LU publication?
yes
id
b5e3d7f5-b6e6-4f27-a9b3-1a3ef9e3404e
date added to LUP
2021-04-27 09:25:51
date last changed
2022-05-12 19:51:56
@article{b5e3d7f5-b6e6-4f27-a9b3-1a3ef9e3404e,
  abstract     = {{<p>Autonomous vehicles hold promise for increased vehicle and traffic safety, and there are several developments in the field where one example is an avoidance maneuver. There it is dangerous for the vehicle to be in the opposing lane, but it is safe to drive in the original lane again after the obstacle. To capture this basic observation, a lane-deviation penalty (LDP) objective function is devised. Based on this objective function, a formulation is developed utilizing optimal all-wheel braking and steering at the limit of road–tire friction. This method is evaluated for a double lane-change scenario by computing the resulting behavior for several interesting cases, where parameters of the emergency situation such as the initial speed of the vehicle and the size and placement of the obstacle are varied, and it performs well. A comparison with maneuvers obtained by minimum-time and other lateral-penalty objective functions shows that the use of the considered penalty function decreases the time that the vehicle spends in the opposing lane.</p>}},
  author       = {{Anistratov, Pavel and Olofsson, Björn and Nielsen, Lars}},
  issn         = {{0954-4070}},
  keywords     = {{Active safety systems; at-the-limit operation; double lane change; intelligent vehicles; passenger vehicles; vehicle control systems; vehicle dynamics}},
  language     = {{eng}},
  number       = {{12}},
  pages        = {{3036--3050}},
  publisher    = {{SAGE Publications}},
  series       = {{Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering}},
  title        = {{Lane-deviation penalty formulation and analysis for autonomous vehicle avoidance maneuvers}},
  url          = {{http://dx.doi.org/10.1177/09544070211007979}},
  doi          = {{10.1177/09544070211007979}},
  volume       = {{235}},
  year         = {{2021}},
}