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...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	Journal of dynamic systems, measurement, and control measurement, and control, 2016-02, Vol.138 (2)
Hauptverfasser:	Funke, Joseph, Christian Gerdes, J
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomous Dynamical systems Dynamics Emergency vehicles Friction Lane changes Maneuvers Vehicles
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!