Obstacle Avoidance Model of Two-Wheeled Vehicles for Nonrigid Obstacles Based on Social Forces

Table 8

Statistics of parameters related to vehicle avoidance behavior under different .

(m)	Obstacle avoidance process			Boundary avoidance process			Maximum displacement of front wheel contact point in Y-axisdirection (m)	Whether to successfully avoid obstacles
	Displacement in the X-axis direction during avoidance (m)	The coordinate of front wheel contact point at the avoidance process end moment (m)	Vehicle body deflection angle at the avoidance process end moment (rad)	Displacement in the X-axis direction during avoidance (m)	The coordinate of front wheel contact point at the avoidance process end moment (m)	Vehicle body deflection angle at the avoidance process end moment (rad)
1.0	2.192	(0.937, 0.358)	0.131	5.177	(−4.240, 0.364)	−0.071	0.439	Successful avoidance
0.8	1.517	(1.612, 0.262)	0.118	4.153	(−2.540, 0.254)	−0.056	0.291	Unsuccessful avoidance
0.6	0.474	(2.656, 0.129)	0.097	2.929	(−0.273, 0.123)	−0.030	0.109	Unsuccessful avoidance