Lane-deviation penalty formulation and analysis for autonomous vehicle avoidance maneuvers
(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.
(Less)
- author
- Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars
- organization
- publishing date
- 2021
- 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
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- b5e3d7f5-b6e6-4f27-a9b3-1a3ef9e3404e
- date added to LUP
- 2021-04-27 09:25:51
- date last changed
- 2023-04-24 21:07:50
@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}},
}