A New Model for Hard Braking Vehicles and Collision Avoiding Trajectories
In this paper, we propose a new model to describe vehicle dynamics in full braking situations with collision avoiding motions. By combining the equations of the classic Ackermann-Model with conditions that ensure a stable vehicle movement during simultaneous heavy braking and turning motions, we derive a model that describes the set of controllable trajectories. We describe these trajectories by compound motion equations in the x; y plane that are directly computable. We discuss our model regarding uncertainties and their eect on reachability analysis of vehicles in admissible scenarios, to show the feasibility of our solution. We compare our model to the well known Constant-Turn-Rate-And-Acceleration-Model which is computationally more expensive and less precise. By considering uncertainties of the parameters used in our model, we show a way to estimate the reachable area of a hardbraking vehicle.
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