Abstract
This paper addresses the issue of emergency maneuvers for obstacle avoidance. The emergency maneuvers are computed by minimizing the longitudinal distance of a lane transition, assuming given initial and free final speeds. This produces the sharpest dynamically feasible maneuvers, representing the vehicle's ultimate performance. These maneuvers can be used to determine the minimum distance beyond which an obstacle cannot be avoided. Plotting the minimum distance in the phase plane provides a valuable design tool for planning safe avoidance maneuvers, and for selecting obstacle detection sensors. The optimal maneuvers and the minimum distance curve are demonstrated for a planar vehicle model.
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