A Review of Autonomous Road Vehicle Integrated Approaches to an Emergency Obstacle Avoidance Maneuver

by   Evan Lowe, et al.

As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems. However, environments around passenger vehicles have also become more complex, and dangerous. There have previously been studies that outline driver tendencies and performance capabilities when attempting to avoid obstacles while driving passenger vehicles. Now that autonomous vehicles are being developed with obstacle avoidance capabilities, it is important to target performance that meets or exceeds that of human drivers. This manuscript highlights systems that are crucial for an emergency obstacle avoidance maneuver (EOAM) and identifies the state-of-the-art for each of the related systems, while considering the nuances of traveling at highway speeds. Some of the primary EOAM-related systems/areas that are discussed in this review are: general path planning methods, system hierarchies, decision-making, trajectory generation, and trajectory-tracking control methods. After concluding remarks, suggestions for future work which could lead to an ideal EOAM development, are discussed.


page 7

page 14

page 20

page 24

page 26

page 29

page 30

page 31


Model predictive approach to integrated path planning and tracking for autonomous vehicles

In the path planning problem of autonomous application, the existing stu...

Autonomous Road Vehicle Emergency Obstacle Avoidance Maneuver Framework at Highway Speeds

An Autonomous Road Vehicle (ARV) can navigate various types of road netw...

Evaluation and Control Model Design of Human Factors for Autonomous Driving Systems

With the fast development of driving automation technologies, user psych...

Clothoid Curve-based Emergency-Stopping Path Planning with Adaptive Potential Field for Autonomous Vehicles

The Potential Field (PF)-based path planning method is widely adopted fo...

Comparison of Different Methods for Time Sequence Prediction in Autonomous Vehicles

As a combination of various kinds of technologies, autonomous vehicles c...

An Autonomous Driving Framework for Long-term Decision-making and Short-term Trajectory Planning on Frenet Space

In this paper, we present a hierarchical framework for decision-making a...

Benchmarking of a software stack for autonomous racing against a professional human race driver

The way to full autonomy of public road vehicles requires the step-by-st...

Please sign up or login with your details

Forgot password? Click here to reset