Vehicular safety depends on road geometry and surface conditions that provide tire-terrain traction. Roads are constructed with 3-D features consisting of super-elevation, grade, horizontal profile. A driving automaton that is aware of these parameters and surface friction can make better driving decisions at optimal speeds that maintain vehicular stability. Estimation of tire-terrain friction requires a continuous 3-D surface. In order to satisfy these requirements, we extend the Open Curved Regular Grid (OpenCRG) format with a C2 continuous surface that is dynamically generated at tire-terrain contact patches. We show that these estimates empower driving automatons to stably navigate curved elevated roads with super-elevated turns. We also show that sharing friction estimates using Basic Safety Messages (BSM) of Dedicated Short Range Communications (DSRC) can enable safety of following vehicles in control loss situations.
Stable and Safe Automated Driving Using 3-D Road Geometric Features
2019-04-01
1069112 byte
Conference paper
Electronic Resource
English
The Road to Safe Automated Driving Systems: A Review of Methods Providing Safety Evidence
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