Research on trajectory planning in emergency situations with multiple objects
Research on trajectory planning in emergency situations with multiple objects
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多目标紧急情况下的轨迹规划研究
DOI：
10.1109/itsc.2006.1707153
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Wolfgang Branz
中科院分区：
文献类型：
--
作者：
C. Schmidt;Fred Oechsle;Wolfgang Branz
本文回答了最晚可能的规避轨迹问题。通过一种新颖的方法，可以表明并证明它必须是一种制动和转向相结合的操作。尽管堀内等人（2004年）已经指出了组合操作相较于单一转向干预的优势，但最晚可能的无碰撞轨迹问题尚未得到解答。基于这种新颖的方法，提出了一种传播方法，该方法揭示了在存在多个障碍物的场景中不可避免的碰撞情况，并且可用于推导规避轨迹。
This paper answers the question of the latest possible evasive trajectory. Using a novel approach, it can be shown and proven that it has to be a combined braking and steering maneuver. Although Horiuchi et al. (2004) has already pointed out the advantages of a combination over a sole steering intervention, the question of the latest possible collision-free trajectory has not yet been answered. Based on the novel approach, a propagation method is presented, which reveals unavoidable collisions in scenarios with multiple obstacles and which can be used to derivate an evasive trajectory