Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

Figure 5

Evasive maneuver for avoiding the moose, with collaborating vehicle proceeding in the opposite lane. (a) Obstacle (moose) repulsive force [N versus s]. (b) Distance between reference and the moose (black), influence distance (gray dashed), and safety distance (gray solid) [m versus s].

(a)

(b)