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A Generalized Formulation for Safe Obstacle Avoidance Maneuvers in Autonomous Vehicles Université of Haute-Alsace
- Format:
- Book
- Conference/Event
- Author/Creator:
- Vigne, Benoit, author.
- Conference Name:
- 2025 Stuttgart International Symposium (2025-07-02 : Stuttgart, Germany)
- Language:
- English
- Physical Description:
- 1 online resource cm
- Place of Publication:
- Warrendale, PA SAE International 2025
- Summary:
- This paper deals with autonomous vehicle trajectory planning for avoidance maneuver. It introduces a trajectory planning approach that allows for static obstacle avoidance maneuvers. Specifically, this study proposes a generalized geometric formulation based on Sigmoid functions in order to generate a smooth path that guides the vehicle on a lateral deviation and returns to the initial lane. In addition, the method considers various geometrical and dynamic constraints to ensure vehicle stability while taking into account a safety area around the obstacle. The algorithm validation is conducted on the professional CarMaker simulator by associating the path generation module with a robust lateral tracking controller. The results demonstrate the effectiveness of the proposed planning method in the field of autonomous driving vehicle control
- Notes:
- Vendor supplied data
- Publisher Number:
- 2025-01-0285
- Access Restriction:
- Restricted for use by site license
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