A Review of Autonomous Road Vehicle Integrated Approaches to an
Emergency Obstacle Avoidance Maneuver
- URL: http://arxiv.org/abs/2105.09446v2
- Date: Sat, 22 May 2021 13:06:11 GMT
- Title: A Review of Autonomous Road Vehicle Integrated Approaches to an
Emergency Obstacle Avoidance Maneuver
- Authors: Evan Lowe, Levent Guven\c{c}
- Abstract summary: This manuscript highlights systems that are crucial for an emergency obstacle avoidance maneuver (EOAM)
It identifies the state-of-the-art for each of the related systems, while considering the nuances of traveling at highway speeds.
- Score: 0.0
- License: http://creativecommons.org/licenses/by-sa/4.0/
- Abstract: As passenger vehicle technologies have advanced, so have their capabilities
to avoid obstacles, especially with developments in tires, suspensions,
steering, as well as safety technologies like ABS, ESC, and more recently, ADAS
systems. However, environments around passenger vehicles have also become more
complex, and dangerous. There have previously been studies that outline driver
tendencies and performance capabilities when attempting to avoid obstacles
while driving passenger vehicles. Now that autonomous vehicles are being
developed with obstacle avoidance capabilities, it is important to target
performance that meets or exceeds that of human drivers. This manuscript
highlights systems that are crucial for an emergency obstacle avoidance
maneuver (EOAM) and identifies the state-of-the-art for each of the related
systems, while considering the nuances of traveling at highway speeds. Some of
the primary EOAM-related systems/areas that are discussed in this review are:
general path planning methods, system hierarchies, decision-making, trajectory
generation, and trajectory-tracking control methods. After concluding remarks,
suggestions for future work which could lead to an ideal EOAM development, are
discussed.
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