  An Autonomous Road Vehicle (ARV) can navigate various types of road networks
using inputs such as throttle (acceleration), braking (deceleration), and
steering (change of lateral direction). In most ARV driving scenarios that
involve normal vehicle traffic and encounters with vulnerable road users
(VRUs), ARVs are not required to take evasive action. This paper presents a
novel Emergency Obstacle Avoidance Maneuver (EOAM) methodology for ARVs
traveling at higher speeds and lower road surface friction, involving
time-critical maneuver determination and control. The proposed EOAM Framework
offers usage of the ARV's sensing, perception, control, and actuation system
abilities as one cohesive system, to accomplish avoidance of an on-road
obstacle, based first on performance feasibility and second on passenger
comfort, and is designed to be well-integrated within an ARV high-level system.
Co-simulation including the ARV EOAM logic in Simulink and a vehicle model in
CarSim is conducted with speeds ranging from 55 to 165 km/h and on road
surfaces with friction ranging from 1.0 to 0.1. The results are analyzed and
given in the context of an entire ARV system, with implications for future
work.
