Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios

• Published in: IEEE transactions on control systems technology Vol. 25; no. 4; pp. 1204 - 1216
• Main Authors: Funke, Joseph, Brown, Matthew, Erlien, Stephen M., Gerdes, J. Christian
• Format: Journal Article
• Language: English
• Published: IEEE 01.07.2017
• Subjects: Autonomous automobiles; Autonomous vehicles; Collision avoidance; model predictive control; Predictive models; Stability analysis; Tires; Trajectory; vehicle control; vehicle stability; Vehicles

Emergency scenarios may necessitate autonomous vehicle maneuvers up to their handling limits in order to avoid collisions. In these scenarios, vehicle stabilization becomes important to ensure that the vehicle does not lose control. However, stabilization actions may conflict with those necessary fo...