Name
Abstract | ||
|---|---|---|
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 reponse 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. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/IVS.2010.5548068 | 2010 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) |
Keywords | Field | DocType |
trajectory,merging,remotely operated vehicles,history,mobile robots,control systems,feedforward neural networks,obstacle avoidance,vehicle dynamics | Autonomous ground vehicle,Obstacle avoidance,Feedforward neural network,Simulation,Vehicle dynamics,Engineering,Relative velocity,Trajectory,Mobile robot,Offset (computer science) | Conference |
ISSN | Citations | PageRank |
1931-0587 | 0 | 0.34 |
References | Authors | |
3 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Falk Hecker | 1 | 33 | 3.33 |
| Thorsten Luettel | 2 | 95 | 10.56 |
| Hans-Joachim Wünsche | 3 | 80 | 8.13 |