Reactive path planning for emergency steering maneuvers on highway roads

摘要

A path planning algorithm is proposed for emergency steering maneuvers on highway roads. A geometric approach is used to generate a graph which is searched to find an optimal path based on a customized cost function. We ensure that the resulted path will be within road boundaries, collision-free and feasible with respect to all kinematic and dynamic constraints of the host vehicle and the surrounding environment. The proposed algorithm is computationally fast and is reactive to all changes on the highway roads. Real-time simulation results in the Hardware-In-the-Loop platform shows the effectiveness of the algorithm in avoiding collision with stationary and moving obstacles on the road.