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.
Object related reactive offset maneuver
2010 IEEE Intelligent Vehicles Symposium ; 1092-1097
2010-06-01
652004 byte
Conference paper
Electronic Resource
English
Object Related Reactive Offset Maneuver, pp. 1092-1097
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