Object related reactive offset maneuver

This paper describes a method for an object related reactive offset maneuver increasing the number of action alternatives for an autonomous ground vehicle. The method improves a variety of time-critical maneuvers as for example merging into moving traffic, changing lanes, passing other traffic participants as well as emergency obstacle avoidance without having to replan a path using high-level planning methods. It is especially targeted at autonomous driving on country roads. As oncoming traffic increases the relative speed between participants, a quick response to changes of the traffic situation are critically important. Moreover the method does not require constant vehicle velocities throughout a lane change maneuver as most existing approaches do. Simulations show improvements of the behaviour capabilities of an autonomous vehicle using the presented lateral reactive offset maneuvers.