Safe Swerve Maneuvers for Autonomous Driving

Iaco, Ryan De; Smith, Stephen L.; Czarnecki, Krzysztof

doi:10.1109/iv47402.2020.9304682

Cited by 10 publications

(11 citation statements)

References 14 publications

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“…This article extends the work in our previous conference paper [7], which included the derivation of pairwise safe following distances between vehicles that swerve or brake when interacting with one another. This work is based on the RSS framework, and the evaluation of these distance bounds according to a dynamic single-track model.…”

Section: A Contributionsmentioning

confidence: 65%

“…Subproblem 2. Given the kinematic constraints in (7), the initial vehicle speeds v r and v f , the lateral clearance distance y c , and parameters ρ, a max , a min,brake , a max,brake , a lat max , and a lat min , compute a longitudinal safe distance sufficient for safety when swerving for a braking lead vehicle. This is illustrated in Figure 1b.…”

Section: Problem Formulationmentioning

confidence: 99%

“…For the swerve maneuver, the turning radius of the circular arcs depends on the maximum lateral acceleration, as well as the kinematic limits of the steering angle. The constraints on steering angle and lateral acceleration from (7) give two constraints on the turning radius…”

Section: B Swerving For a Braking Vehiclementioning

confidence: 99%

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Universally Safe Swerve Maneuvers for Autonomous Driving

Iaco¹,

Smith

Czarnecki

2021

IEEE Open J. Intell. Transp. Syst.

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This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive Safety (RSS) framework. We extend RSS by introducing swerve maneuvers as a valid response in addition to the already present brake maneuver. These swerve maneuvers use the more realistic kinematic bicycle model rather than the double integrator model of RSS. When vehicles are able to swerve or brake, it is shown that their required safe following distance at higher speeds is less than that required through braking alone. In addition, when all vehicles follow this new distance, they are provably safe. The use of the kinematic bicycle model is then validated by comparing these swerve maneuvers to that of a dynamic single-track model. The analysis in this paper can be used to inform both offline safety validation as well as safe control and planning.

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Section: A Contributionsmentioning

confidence: 65%

Section: Problem Formulationmentioning

confidence: 99%

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Universally Safe Swerve Maneuvers for Autonomous Driving

Iaco¹,

Smith

Czarnecki

2021

IEEE Open J. Intell. Transp. Syst.

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“…De laco, R. et al calculated the safest distance to avoid collisions between vehicles when overtaking a stopped preceding vehicle, or when turning to change lanes, based on the RSS framework. Using the RSS model, the authors demonstrate that the vehicle behaves reasonably and is safe at the same time [8,9].…”

Section: Related Workmentioning

confidence: 99%

“…When analyzing previous studies, the variables used in the RSS model were determined using the SH-NDS data. The SH-NDS data has some limitations in generalizing various driving environments, road conditions, and driver habits because the number of drivers surveyed is relatively small and only results obtained from a specific area are used [8]. In this paper, an autonomous vehicle is fixed to overcome this limitation.…”

Section: Problem Definitionmentioning

confidence: 99%

On the Development of Autonomous Vehicle Safety Distance by an RSS Model Based on a Variable Focus Function Camera

Kim

Yu²,

Kim³

et al. 2021

Sensors

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Today, a lot of research on autonomous driving technology is being conducted, and various vehicles with autonomous driving functions, such as ACC (adaptive cruise control) are being released. The autonomous vehicle recognizes obstacles ahead by the fusion of data from various sensors, such as lidar and radar sensors, including camera sensors. As the number of vehicles equipped with such autonomous driving functions increases, securing safety and reliability is a big issue. Recently, Mobileye proposed the RSS (responsibility-sensitive safety) model, which is a white box mathematical model, to secure the safety of autonomous vehicles and clarify responsibility in the case of an accident. In this paper, a method of applying the RSS model to a variable focus function camera that can cover the recognition range of a lidar sensor and a radar sensor with a single camera sensor is considered. The variables of the RSS model suitable for the variable focus function camera were defined, the variable values were determined, and the safe distances for each velocity were derived by applying the determined variable values. In addition, as a result of considering the time required to obtain the data, and the time required to change the focal length of the camera, it was confirmed that the response time obtained using the derived safe distance was a valid result.

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An Evasive Strategy for Safe Autonomous Navigation Using Bayesian Networks and CMA-ES

Iberraken

Adouane

2022

Lecture Notes in Networks and Systems

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Safe Swerve Maneuvers for Autonomous Driving

Cited by 10 publications

References 14 publications

Universally Safe Swerve Maneuvers for Autonomous Driving

Universally Safe Swerve Maneuvers for Autonomous Driving

On the Development of Autonomous Vehicle Safety Distance by an RSS Model Based on a Variable Focus Function Camera

An Evasive Strategy for Safe Autonomous Navigation Using Bayesian Networks and CMA-ES

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