In the near future, drivers will more and more share vehicle guidance with assistance systems. This contribution provides a potential field-based approach to the underlying motion planning problem. In doing so, the concept of elastic bands, known from robotics, is extended to automotive applications. Contrary to robotic applications, extrapolation routines anticipating the motion of the surrounding traffic are incorporated in the motion planning. New in this paper is the distinction of different types of obstacles such as traffic staying in its lane and traffic intending to depart from it. Beyond that, the motion planning adapts to the driver's commands. The driver can be included in the overall control loop by means of a haptic interface generating a torque that depends on the difference of the actual steering angle and the steering angle necessary to follow the planned trajectory. However, this contribution focuses only on the underlying motion planning procedure.


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    Titel :

    From robotics to automotive: Lane-keeping and collision avoidance based on elastic bands


    Beteiligte:
    Sattel, Thomas (Autor:in) / Brandt, Thorsten (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 46 , 7 ; 597-619


    Erscheinungsdatum :

    2008-07-01


    Format / Umfang :

    23 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt






    From robotics to automotive: lane-keeping and collision avoidance based on elastic bands

    Sattel,T. / Brandt,T. / Univ.Paderborn,DE | Kraftfahrwesen | 2008


    Path planning for automotive collision avoidance based on elastic bands

    Brandt, Thorsten / Sattel, Thomas | Tema Archiv | 2005


    PASSING LANE COLLISION AVOIDANCE

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