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 response 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.


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    Title :

    Object related reactive offset maneuver


    Contributors:


    Publication date :

    2010-06-01


    Size :

    652004 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Object Related Reactive Offset Maneuver, pp. 1092-1097

    Hecker, F. / Luettel, T. / Wuensche, H.J. et al. | British Library Conference Proceedings | 2010


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