An overtaking is among the main risky maneuvers for Autonomous Vehicles (AVs) in highway, due to the uncertainties of the dynamic surrounding vehicles. This paper proposes a new approach named Distance Awareness for Adaptative Velocity Profile (DA-AVP) to ensure the safety of an engaged maneuver. This strategy is based on the authors' previous work [1] and takes into account the actual actuation capacity of the Ego vehicle and the new dynamic of the surrounding vehicles. This solution consists in applying an acceleration profile on the pre-planned path to always maintain a safety margin with others vehicles, even with those showing dangerous behaviors. Several simulations show the efficiency of the proposed strategy.
Safe Overtaking Maneuver for Autonomous Vehicle under Risky Situations based on Adaptive Velocity Profile
19.09.2021
1563049 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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