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原文传递 OBSTACLE AVOIDANCE TECHNIQUES FOR THE AUTOMATED HIGHWAY SYSTEM.

题名：	OBSTACLE AVOIDANCE TECHNIQUES FOR THE AUTOMATED HIGHWAY SYSTEM.
作者：	Schuster-SK
关键词：	OBSTACLES-; COLLISION-AVOIDANCE; AUTOMATED-HIGHWAY-SYSTEMS; MOTOR-VEHICLES; COOPERATION-; DEDICATED-LANES; OBSTACLE-DETECTION; SENSORS-; VEHICULAR-COMMUNICATIONS; LANE-CHANGE; HARD-BRAKING; ACCELERATION-; DECELERATION-; TRAFFIC-SAFETY; COORDINATION-; SPEED-CHANGES; DECISIONS-
摘要：	One of the more difficult issues in designing the Automated Highway System (AHS) is how to avoid colliding with obstacles. This analysis of obstacle avoidance looks at the effect of increased vehicle cooperation on obstacle avoidance performance under three different obstacle avoidance techniques. The scenario chosen to evaluate obstacle avoidance strategies has two dedicated AHS lanes with traffic moving in the same direction, operating at near capacity. An obstacle appears in the roadway some distance ahead of a group of vehicles. All vehicles are assumed to have obstacle detection sensors, to communicate with other vehicles, and to know the position of nearby vehicles. A set of three obstacle avoidance strategies is analyzed. These are: 1) full lane change, a relatively complex strategy requiring a high degree of data exchange and coordination between vehicles; 2) hybrid lane change, a simplified strategy requiring only limited data exchange and coordination between vehicles; and 3) hard braking, which can be done autonomously with no data exchange. Braking and lane changing protocols were created as part of this analysis. Each protocol divides the highway into a series of imaginary longitudinal strips, or zones. At each of three decision times, an action involving longitudinal or lateral acceleration/deceleration (or both lateral and longitudinal) is chosen based on the best estimate of the zone in which the obstacle is located. When viewed as a whole, the sequence of actions for each obstacle avoidance strategy (lane changing and hard braking) chosen successively at the three times forms a decision tree with ten to twelve branches. All vehicles in this analysis are light passenger vehicles (car/pickup/van). The obstacle appearing on the roadway is assumed to be stationary, and to have the size-to-mass characteristics of a granite boulder. Tracking error estimates are based on the covariance errors for an alpha-beta filter. The change in speed of a vehicle at the moment of collision is used as the safety metric for this analysis. Safety performance of the three obstacle avoidance techniques is shown quantitatively as a function of speed, obstacle size, and sensor acquisition distance. These results show the improvement in safety which is achievable with vehicle-to-vehicle coordination. Some qualitative conclusions are also drawn about the circumstances under which each of the three obstacle avoidance techniques performs best.
总页数：	Conference Title: Merging the Transportation and Communications Revolutions. Abstracts for ITS America Seventh Annual Meeting and Exposition. Location: Washington, D.C. Sponsored by: ITS America. Held: 19970602-19970605. 1997. pp19
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