Path planning for evasive steering manuever employing a virtual potential field technique is disclosed. A system and a method for calculating a virtual target path are provided. The virtual target path is used to calculate an evasive steering path around a target object, such as a target vehicle, stopped in front of a subject vehicle. The method includes determining a potential field using a plurality of scan points that is a summation of two-dimensional Gaussian functions, wherein each Gaussian function has center defined by target object scan points and other object scan points. The method identifies a mesh grid in an X-Y plane where the mesh grid includes mesh grid points at locations where X and Y plane lines cross. The method identifies a local minimum point of the potential field for each X-plane line at each mesh grid point along the Y-plane crossing that X-plane line, wherein the local minimum point is a curve point. The method then connects the curve points to define the target path.


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    Titel :

    Path planning for evasive steering manuever employing virtual potential field technique


    Beteiligte:
    ROUHOLLAH JAFARI (Autor:in) / NIKOLAI K MOSHCHUK (Autor:in) / SHUQING ZENG (Autor:in)

    Erscheinungsdatum :

    2015-04-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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