TY - DATA
T1 - Proactive Motion Planning Codes for Emergency Collision Avoidance in Highway Scenarios
PY - 2023/09/21
AU - Leila Gharavi
UR - 
DO - 10.4121/c4c3015e-702a-43dc-9eed-33b9d207604e.v1
KW - Model Predictive Control
KW - Stochastic Model Predictive Control
KW - Collision Avoidance
KW - Automated Driving
KW - Motion Planning
KW - Evasive Maneuvers
KW - Proactive Control
KW - Emergency Scenarios
N2 - <p>This repository includes local motion planners for<strong> emergency collision avoidance</strong> in automated driving systems. These planners incorporate<strong> stochastic prediction models for other road users</strong> (e.g. vehicles or static obstacles) and <strong>a dynamic prediction model for the ego vehicle</strong>. Further, the planners are formulated as <strong>model predictive control optimization problems</strong> and are designed to find a reference trajectory for the ego vehicle to avoid collision with the road users/obstacles and road boundaries while taking into account the uncertainty in predicting the behavior of other road users. </p><p></p>
ER -