Corridor-Based Monitoring and Emergency Braking Decision for Automated Vehicle Safety
Overview
This paper presents an emergency-braking approach for automated vehicles that uses a predicted motion corridor to filter lidar measurements and decide on braking. The method constructs a curvature-aware boundary from the planned path and vehicle geometry, scores geometric occupancy and temporal urgency independently, and employs hard gates and soft-OR arbitration for decision-making. Consecutive-scan confirmation reduces sensitivity to noise. Evaluation includes controlled collision simulations, campus driving recordings, and Monte Carlo simulations of lead-vehicle braking and transverse-crossing encounters.
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- arXiv Robotics — research abstractsSignalCorridor-Based Monitoring and Emergency Braking Decision for Automated Vehicle Safety
This paper presents an emergency-braking approach for automated vehicles that uses a predicted motion corridor to filter lidar measurements and decide on braking. The method constructs a curvature-aware boundary from the planned path and vehicle geometry, scores geometric occupancy and temporal urgency independently, and employs hard gates and soft-OR arbitration for decision-making. Consecutive-scan confirmation reduces sensitivity to noise. Evaluation includes controlled collision simulations, campus driving recordings, and Monte Carlo simulations of lead-vehicle braking and transverse-crossing encounters.
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