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Traditional active safety systems in automotive industry use the vehicle current state and additional optional measurements to plan their intervention. In general, the computation of the most convenient action to undertake in order to guarantee a safe driving is performed without any reference to what the optimal maneuver, predicted on the basis of the vehicle current state and future road geometry/conditions,...
Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer. The method realizes long-term objectives such as velocity...
This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. The vehicle navigation problem is formulated as a...
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