Universally Safe Swerve Manoeuvres for Autonomous Driving
This addresses safety in autonomous driving by enabling more efficient and realistic collision avoidance, though it is incremental as it builds on an existing framework.
The paper extends the Responsibility-Sensitive Safety (RSS) framework by incorporating swerve maneuvers using a kinematic bicycle model, showing that safe following distances at higher speeds can be reduced compared to braking alone, with provable safety when all vehicles adhere to this distance.
This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive Safety (RSS) framework. We extend RSS by introducing swerve manoeuvres as a valid response in addition to the already present brake manoeuvre. These swerve manoeuvres use the more realistic kinematic bicycle model rather than the double integrator model of RSS. When vehicles are able to swerve and brake, it is shown that their required safe following distance at higher speeds is less than that required through braking alone. In addition, when all vehicles follow this new distance, they are provably safe. The use of the kinematic bicycle model is then validated by comparing these swerve manoeuvres to that of a dynamic single-track model.