Communication Dans Un Congrès Année : 2021

Safe Overtaking Maneuver for Autonomous Vehicle under Risky Situations based on Adaptive Velocity Profile

Résumé

An overtaking is among the main risky maneuvers for Autonomous Vehicles (AVs) in highway, due to the uncertainties of the dynamic surrounding vehicles. This paper proposes a new approach named Distance Awareness for Adaptative Velocity Profile (DA-AVP) to ensure the safety of an engaged maneuver. This strategy is based on the authors' previous work [1] and takes into account the actual actuation capacity of the Ego vehicle and the new dynamic of the surrounding vehicles. This solution consists in applying an acceleration profile on the pre-planned path to always maintain a safety margin with others vehicles, even with those showing dangerous behaviors. Several simulations show the efficiency of the proposed strategy.

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Dates et versions

hal-03527929 , version 1 (16-01-2022)

Identifiants

Citer

Kévin Bellingard, Lounis Adouane, Fabrice Peyrin. Safe Overtaking Maneuver for Autonomous Vehicle under Risky Situations based on Adaptive Velocity Profile. 24th IEEE International Conference on Intelligent Transportation Systems (ITSC 2021), Sep 2021, Indianapolis, United States. pp.304-311, ⟨10.1109/ITSC48978.2021.9564964⟩. ⟨hal-03527929⟩
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