2024/06/03 by Thomas Fork, Francesco Camozzi, Fork, Thomas +5
Engineering · #FOS: Computer and information sciences #Robotics (cs.RO) #Traffic Prediction and Management Techniques
paper · pdf · doi:10.48550/arxiv.2406.01724
openalex publication_date 2024/06/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an active safety system to preemptively reduce vehicle speed for upcoming road geometry, such as off-camber turns. Our system may be used for human-driven or autonomous vehicles and we demonstrate it with a simulated ADAS scenario. We show that loss of control due to driver error on nonplanar roads can be mitigated by our approach.