The trade-off between distance margin and steering intrusiveness in obstacle avoidance manoeuvres with oncoming traffic
Paper in proceedings, 2015
In this paper, the trade-off achieved between distance margin and steering intrusiveness in the obstacle avoidance manoeuvre with oncoming traffic scenario using different actuator sets is investigated. Investigation is first done using an optimal control framework to estimate the maximum benefit that can be achieved using the actuator sets. Next, closed loop controllers are used in simulation to estimate the benefit that can be obtained when the actuators are used for lateral control alone. It is found that for manoeuvres characterized by long obstacles and/or large bullet vehicle speeds relative to that of the host vehicle, torque vectoring can significantly reduce the risk of collision with an oncoming vehicle when compared to differential braking alone. It is found that it is beneficial to be able to perform safety interventions in this scenario with as little impact on the vehicle speed as possible which can be done by using a torque vectoring system.
obstacle avoidance with oncoming traffic