论文标题
普遍安全的转弯操作，用于自动驾驶
Universally Safe Swerve Manoeuvres for Autonomous Driving
论文作者
论文摘要
本文表征了安全的距离距离驾驶的安全性，当时车辆可以通过制动或转动进入相邻车道来避免碰撞。特别是，我们专注于对责任敏感安全（RSS）框架中定义的安全性。除了已经存在的制动器操作外，我们还通过引入Swerve Areuvers作为有效响应来扩展RSS。这些转动操作使用了更现实的运动学自行车模型，而不是RSS的双集成器模型。当车辆能够转弯和制动时，表明他们所需的安全后距离以较高的速度要小于单独制动所需的安全距离。此外，当所有车辆都遵循这一新距离时，它们是可以安全的。然后，通过将这些旋转操作与动态单轨模型进行比较，可以验证运动学自行车模型的使用。
This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive Safety (RSS) framework. We extend RSS by introducing swerve manoeuvres as a valid response in addition to the already present brake manoeuvre. These swerve manoeuvres use the more realistic kinematic bicycle model rather than the double integrator model of RSS. When vehicles are able to swerve and brake, it is shown that their required safe following distance at higher speeds is less than that required through braking alone. In addition, when all vehicles follow this new distance, they are provably safe. The use of the kinematic bicycle model is then validated by comparing these swerve manoeuvres to that of a dynamic single-track model.
