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arXiv · 2309.12531

RCMS: Risk-Aware Crash Mitigation System for Autonomous Vehicles

Faizan M. Tariq·David Isele·John S. Baras·Sangjae Bae
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Abstract

We propose a risk-aware crash mitigation system (RCMS), to augment any existing motion planner (MP), that enables an autonomous vehicle to perform evasive maneuvers in high-risk situations and minimize the severity of collision if a crash is inevitable. In order to facilitate a smooth transition between RCMS and MP, we develop a novel activation mechanism that combines instantaneous as well as predictive collision risk evaluation strategies in a unified hysteresis-band approach. For trajectory planning, we deploy a modular receding horizon optimization-based approach that minimizes a smooth situational risk profile, while adhering to the physical road limits as well as vehicular actuator limits. We demonstrate the performance of our approach in a simulation environment.

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Faizan M. Tariq, David Isele, John S. Baras, Sangjae Bae. 2023-09-21. RCMS: Risk-Aware Crash Mitigation System for Autonomous Vehicles. https://arxiv.org/abs/2309.12531

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