Design of emergency manoeuvres for automated highway system: obstacle avoidance problem

We analyze the problem of obstacle avoidance in an automated highway system (AHS). For a given scenario (traffic state, obstacle location, etc.), we synthesize the best possible avoidance manoeuvre for each vehicle. Our aim is to obtain a distributed strategy so that the obstacle avoidance manoeuvres can be executed by vehicle based controllers (with some inter-vehicle communication) as opposed to a roadside controller making decisions and communicating it to the individual vehicles.