Determining easily avoidable stop position by predicting surrounding vehicles' paths

Masahiro Kajiwara, Kazunori Ohno, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

We propose a method for deciding an avoidable stop position for a vehicle to not disturb the surrounding traffic. A vehicle needs to pull over and make an autonomous emergency stop when a driver has a seizure and loses consciousness. To develop such an autonomous stop system on a narrow road, considering the surrounding vehicles and not hindering traffic are imperative to rescue a patient. We present an approach based on predicting the paths of other vehicles to avoid the ego-vehicle, a load index of a following vehicle driver for predicted paths, and an index that shows the interference between the paths of the following and oncoming vehicle. The path prediction is computed by applying a lattice path planner comprising the vehicle's position, posture, and path curvature. The load index of the following vehicle is calculated with respect to the cumulative curvature of the predicted path. The interference index of the following and oncoming vehicles is estimated by evaluating the area that both vehicles pass to avoid the ego-vehicle. The simulation results showed the ego-vehicle had to pull over by 1.5 m over the road shoulder and 1.0 m ahead of a parked vehicle on the opposite lane.

本文言語English
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版社Institute of Electrical and Electronics Engineers Inc.
ページ823-828
ページ数6
ISBN(電子版)9781538622636
DOI
出版ステータスPublished - 2018 2 1
イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
継続期間: 2017 12 112017 12 14

出版物シリーズ

名前SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
国/地域Taiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 器械工学
  • 人工知能
  • コンピュータ サイエンスの応用
  • 工学(その他)
  • 材料科学(その他)
  • 制御と最適化

フィンガープリント

「Determining easily avoidable stop position by predicting surrounding vehicles' paths」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル