Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints
This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the friction limits through real-time generation and evaluation of bi-elementary paths. Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of th...
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| Veröffentlicht in: | Journal of dynamic systems, measurement, and control measurement, and control, 2016-02, Vol.138 (2) |
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| container_title | Journal of dynamic systems, measurement, and control |
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| creator | Funke, Joseph Christian Gerdes, J |
| description | This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the friction limits through real-time generation and evaluation of bi-elementary paths. Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths give insight about when and to what extent a vehicle should brake and turn during emergency lane change maneuvers. Tests on an autonomous vehicle validate this approach for lane changes near the limits of friction. |
| doi_str_mv | 10.1115/1.4032033 |
| format | Article |
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Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths give insight about when and to what extent a vehicle should brake and turn during emergency lane change maneuvers. Tests on an autonomous vehicle validate this approach for lane changes near the limits of friction.</description><identifier>ISSN: 0022-0434</identifier><identifier>EISSN: 1528-9028</identifier><identifier>DOI: 10.1115/1.4032033</identifier><language>eng</language><publisher>ASME</publisher><subject>Autonomous ; Dynamical systems ; Dynamics ; Emergency vehicles ; Friction ; Lane changes ; Maneuvers ; Vehicles</subject><ispartof>Journal of dynamic systems, measurement, and control, 2016-02, Vol.138 (2)</ispartof><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-a282t-d0d8815c694e9bd9bf28b8bbaec9ebdcdfbe5abdd9a01f52918f96f14dba81eb3</citedby><cites>FETCH-LOGICAL-a282t-d0d8815c694e9bd9bf28b8bbaec9ebdcdfbe5abdd9a01f52918f96f14dba81eb3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,27903,27904,38499</link.rule.ids></links><search><creatorcontrib>Funke, Joseph</creatorcontrib><creatorcontrib>Christian Gerdes, J</creatorcontrib><title>Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints</title><title>Journal of dynamic systems, measurement, and control</title><addtitle>J. Dyn. Sys., Meas., Control</addtitle><description>This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the friction limits through real-time generation and evaluation of bi-elementary paths. Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths give insight about when and to what extent a vehicle should brake and turn during emergency lane change maneuvers. Tests on an autonomous vehicle validate this approach for lane changes near the limits of friction.</description><subject>Autonomous</subject><subject>Dynamical systems</subject><subject>Dynamics</subject><subject>Emergency vehicles</subject><subject>Friction</subject><subject>Lane changes</subject><subject>Maneuvers</subject><subject>Vehicles</subject><issn>0022-0434</issn><issn>1528-9028</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><recordid>eNotkD1PwzAYhC0EEqUwMLNkhCHFr50Pe6wiCpUqMVBYLX-ldZXEwXYG_j1BZTrd6dFJdwjdA14BQPkMqwJTgim9QAsoCcs5JuwSLTAmJMcFLa7RTYwnjIHSslog9eH6sbNZ0_l09M5kOznM7iiHg832QZ6sTj44G7PWh2w9Jd_LZE32ZY9Od3O8HbQPow8yueGQbYLTyfkha_wQU5BuSPEWXbWyi_buX5foc_Oyb97y3fvrtlnvckkYSbnBhjEodcULy5XhqiVMMaWk1dwqo02rbCmVMVxiaEvCgbW8aqEwSjKwii7R47l3DP57sjGJ3kVtu25e5KcooGYV1FDjekafzqgOPsZgWzEG18vwIwCLvx8FiP8fZ_bhzMrYW3HyUxjmFaKoKa8r-guHV3Cf</recordid><startdate>20160201</startdate><enddate>20160201</enddate><creator>Funke, Joseph</creator><creator>Christian Gerdes, J</creator><general>ASME</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>KR7</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20160201</creationdate><title>Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints</title><author>Funke, Joseph ; Christian Gerdes, J</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a282t-d0d8815c694e9bd9bf28b8bbaec9ebdcdfbe5abdd9a01f52918f96f14dba81eb3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Autonomous</topic><topic>Dynamical systems</topic><topic>Dynamics</topic><topic>Emergency vehicles</topic><topic>Friction</topic><topic>Lane changes</topic><topic>Maneuvers</topic><topic>Vehicles</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Funke, Joseph</creatorcontrib><creatorcontrib>Christian Gerdes, J</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Journal of dynamic systems, measurement, and control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Funke, Joseph</au><au>Christian Gerdes, J</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints</atitle><jtitle>Journal of dynamic systems, measurement, and control</jtitle><stitle>J. 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| fulltext | fulltext |
| identifier | ISSN: 0022-0434 |
| ispartof | Journal of dynamic systems, measurement, and control, 2016-02, Vol.138 (2) |
| issn | 0022-0434 1528-9028 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1786171707 |
| source | ASME Transactions Journals (Current); Alma/SFX Local Collection |
| subjects | Autonomous Dynamical systems Dynamics Emergency vehicles Friction Lane changes Maneuvers Vehicles |
| title | Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints |
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