Safe steering speed estimation and optimal trajectory planning for intelligent vehicles

Abstract

With increasing demands on driving safety, vehicle steering control attracts significant interests during the last two decades. One important problem is that drivers may overestimate the maximum speed they can adopt or choose a wrong trajectory profile (steering guideline) during steering. This often leads the vehicle run out of the road. To avoid such accidents, this paper analyzes the relationship between navigation speed and the corresponding cruise offset with given steering curvature, and provides an estimation method for maximum safe speed regarding a curve or a lane change trajectory. To improve ride comfort, an optimal guideline planning framework considering different driver/passenger requirement is proposed. Besides, how to choose graphical user interface for steering guidance is also discussed.