It is of utmost importance for automatic collision avoidance systems to correctly evaluate the risk of a current situation and constantly decide, if and what kind of evasive maneuver must be initiated. Most motion planning algorithms find such maneuver by searching a deterministic or random subset of the state space or input space. These approaches can be designed to be complete in the sense that they converge to a feasible solution as sampling is made denser. However, they are not suitable to determine whether a solution exists. In this paper, we present an approach which overapproximates the reachable set of the host vehicle considering workspace obstacles. Thus, it provides an upper bound of the solution set and it can report if no solution exists. Furthermore, the calculated set can be used for guiding the search of an underlying planning algorithm to find a solution as each trajectory of the host vehicle is ensured to be contained within this set.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems


    Beteiligte:


    Erscheinungsdatum :

    01.09.2015


    Format / Umfang :

    250375 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Accident avoidance by evasive manoeuvres

    Fausten,M. / Bosch,Stuttgart,DE | Kraftfahrwesen | 2010



    Design of a decision maker for an evasive or braking maneuver for collision avoidance

    Ackermann,C. / Isermann,R. / Min,S. et al. | Kraftfahrwesen | 2014


    Collision Prevention by Precalculated Evasive Manoeuvres

    Kwik, K. H. / Great Britain; Ministry of Defence / University of Southampton; Department of Ship Science | British Library Conference Proceedings | 1997


    Design of a decision maker for an evasive or braking maneuver for collision avoidance

    Ackermann, Carlo / Isermann, R. / Min, Sukki et al. | Springer Verlag | 2014