Research on trajectory planning in emergency situations with multiple objects

This paper answers the question of the latest possible evasive trajectory. Using a novel approach, it can be shown and proven that it has to be a combined braking and steering maneuver. Although Horiuchi et al. (2004) has already pointed out the advantages of a combination over a sole steering intervention, the question of the latest possible collision-free trajectory has not yet been answered. Based on the novel approach, a propagation method is presented, which reveals unavoidable collisions in scenarios with multiple obstacles and which can be used to derivate an evasive trajectory