Piecewise trajectory replanner for highway collision avoidance systems with safe-distance based threat assessment strategy and nonlinear model predictive control
This paper proposes an emergency Trajectory Replanner (TR) for collision avoidance (CA) which works based on a Safe-Distance Based Threat Assessment Strategy (SDTA). The contribution of this work is the design of a piecewise-kinematic based TR, where it replans the path by avoiding the invisible rec...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Published: |
Springer Netherlands
2017
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| Subjects: |