CPC B60T 8/17558 (2013.01) [B60T 8/176 (2013.01); B60T 8/17551 (2013.01); B60T 2250/04 (2013.01); B60T 2270/10 (2013.01); B60T 2270/30 (2013.01)] | 20 Claims |
9. A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to:
determine a vehicle state for a vehicle according to sensor data about a surrounding environment;
compute, using the sensor data and the vehicle state, lateral accelerations that are yaw-free for the vehicle that is without a change in yaw acceleration;
in response to detecting that the vehicle state is associated with an emergency event of an obstacle in a path of the vehicle, select a maneuver from the lateral accelerations; and
control the vehicle according to the maneuver to induce controlled lateral sliding of the vehicle to avoid the obstacle.
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