Research Article

Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

Figure 4

Evasive maneuver for avoiding the moose, with collaborating vehicle proceeding in the opposite lane. (a) Real (solid) and reference (dashed) trajectories. (b) Longitudinal velocity (black solid); reference (black dashed) [m/s versus s]. (c) Lateral velocity (solid) and reference (dashed) [m/s versus s]. (d) Angular velocities (solid) and reference (dashed) [rad/s versus s].