Design Of Emergency Maneuvers For Automated Highway System: Obstacle Avoidance Problem

In this paper, we analyze the problem of obstacle avoidance in an Automated Highway System (AHS). For a given scenario (traffic state, obstacle location, etc.), we synthesize the best possible avoidance maneuver for each vehicle. Our aim is to obtain a distributed strategy so that the obstacle avoidance maneuvers can be executed by vehicle based controllers (with some intervehicle communication) as opposed to a roadside controller making decisions and communicating it to the individual vehicles.