This paper demonstrates that an autonomous vehicle can perform emergency lane changes up to the friction limits through real-time generation and evaluation of bi-elementary paths. Path curvature and friction determine the maximum possible speed along the path and, consequently, the feasibility of the path. This approach incorporates both steering inputs and changes in speed during the maneuver. As a result, varying path parameters and observing the maximum possible entry speed of resulting paths give insight about when and to what extent a vehicle should brake and turn during emergency lane change maneuvers. Tests on an autonomous vehicle validate this approach for lane changes near the limits of friction.
Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 1, 2013; final manuscript received November 15, 2015; published online December 11, 2015. Editor: Joseph Beaman.
Funke, J., and Christian Gerdes, J. (December 11, 2015). "Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints." ASME. J. Dyn. Sys., Meas., Control. February 2016; 138(2): 021002. https://doi.org/10.1115/1.4032033
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