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• W1970168657 abstract "This paper presents a method for semi-autonomous hazard avoidance in the presence of unknown moving obstacles and unpredictable driver inputs. This method iteratively predicts the motion and anticipated intersection of the host vehicle with both static and dynamic hazards and excludes projected collision states from a traversable corridor. A model predictive controller iteratively replans a stability-optimal trajectory through the navigable region of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure safe hazard avoidance. The efficacy of this approach is demonstrated through both simulated and experimental results using a semi-autonomously controlled Jaguar S-Type." @default.
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• W1970168657 date "2010-01-01" @default.
• W1970168657 modified "2023-09-26" @default.
• W1970168657 title "Semi-Autonomous Avoidance of Moving Hazards for Passenger Vehicles" @default.
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• W1970168657 doi "https://doi.org/10.1115/dscc2010-4096" @default.
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