Lane-deviation penalty formulation and analysis for autonomous vehicle avoidance maneuvers

Autonomous vehicles hold promise for increased vehicle and traffic safety, there are several developments in the field where one example is an avoidance maneuver. There it dangerous to be opposing lane, but safe drive original lane again after obstacle. To capture this basic observation, a lane-deviation penalty (LDP) objective function devised. Based on function, formulation developed utilizing optimal all-wheel braking steering at limit of road–tire friction. This method evaluated double lane-change scenario by computing resulting behavior interesting cases, parameters emergency situation such as initial speed size placement obstacle varied, performs well. A comparison with maneuvers obtained minimum-time other lateral-penalty functions shows that use considered decreases time spends lane.