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Emergency Lane Change with a Vehicle in the Neighbouring Lane


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DOI: https://doi.org/10.15866/ireme.v16i5.22169

Abstract


This study has analysed the problems involved in obstacle avoidance in the presence of a vehicle in the neighbouring lane. Four cases, in which the velocity of the ego vehicle has been lesser or greater than the velocity of the vehicle in the neighbouring lane and the ego vehicle completes the lane change behind or ahead of the vehicle in the neighbouring lane, have been considered. The scenario of each case has been described and the inequality constraint for safe lane-change has been provided. A quintic polynomial has been used to generate the paths of the emergency lane change manoeuvre. A decision-making diagram has been first obtained by plotting the longitudinal distance required to avoid an obstacle in the travelling lane against the velocity of the ego vehicle at which the stopping or lane change manoeuvre is initiated. Then a second decision-making diagram has been obtained by plotting the initial longitudinal distance between the ego vehicle and the vehicle in the neighbouring lane against the velocity of the vehicle in the neighbouring lane for a given velocity of the ego vehicle. The obtained diagrams indicate regions in which collisions are unavoidable.
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Keywords


Autonomous Emergency Steering; Collision Avoidance; Emergency Lane Change; Emergency Obstacle Avoidance

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References


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