We propose a risk-aware crash mitigation system (RCMS), to augment any existing motion planner (MP), that enables an autonomous vehicle to perform evasive maneuvers in high-risk situations and minimize the severity of collision if a crash is inevitable. In order to facilitate a smooth transition between RCMS and MP, we develop a novel activation mechanism that combines instantaneous as well as predictive collision risk evaluation strategies in a unified hysteresis-band approach. For trajectory planning, we deploy a modular receding horizon optimization-based approach that minimizes a smooth situational risk profile, while adhering to the physical road limits as well as vehicular actuator limits. We demonstrate the performance of our approach in a simulation environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    RCMS: Risk-Aware Crash Mitigation System for Autonomous Vehicles


    Beteiligte:
    Tariq, Faizan M. (Autor:in) / Isele, David (Autor:in) / Baras, John S. (Autor:in) / Bae, Sangjae (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    1961469 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Crash Mitigation in Motion Planning for Autonomous Vehicles

    Wang, Hong / Huang, Yanjun / Khajepour, Amir et al. | IEEE | 2019


    LOCAL PATH PLANNING FOR AUTONOMOUS VEHICLES: CRASH MITIGATION

    Wang, Hong / Huang, Yanjun / Khajepour, Amir et al. | British Library Conference Proceedings | 2018


    Local Path Planning for Autonomous Vehicles: Crash Mitigation

    Wang, Hong / Huang, Yanjun / Khajepour, Amir et al. | IEEE | 2018


    Innovationen beim Flugsicherungsfunk: RCMS und 8,33-kHz-Kanalraster

    Klarl, H.G. / Keßler, M. | Tema Archiv | 1996


    Risk-Aware Reasoning for Autonomous Vehicles

    Khonji, Majid / Dias, Jorge / Seneviratne, Lakmal | ArXiv | 2019

    Freier Zugriff