The vehicle-following principle comes to its limitations when obstacles interfere with the path between the ego-vehicle and the leader vehicle. This work introduces a planning and decision component to generalize vehicle following to situations dealing with non-automated interfering vehicles in mixed traffic. We focus on lateral control for collision avoidance. Previously, this autonomous driving capability was purely based on the vehicle-following principle. To extend this capability to dynamic driving situations, a dynamic path planning component is introduced. Several driving situations are identified that necessitate responses to more than the leader vehicle. We borrow an idea from robotics to solve the problem: treat the path of the leader vehicle as an elastic band that is subjected to repelling forces of obstacles in the surroundings. This elastic band framework offers the necessary features to cover dynamic driving situations. Simulation results show the effectiveness of this approach. Real-world results obtained with our demonstrator validate the simulation results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Elastic bands to enhance vehicle following


    Contributors:
    Gehrig, S.K. (author) / Stein, F.J. (author)


    Publication date :

    2001-01-01


    Size :

    767485 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Elastic Bands to Enhance Vehicle Following

    Gehrig, S. K. / Stein, F. J. / IEEE | British Library Conference Proceedings | 2001


    Elastic bands to enhance vehicle following

    Gehrig, S.K. / Stein, F.J. | Tema Archive | 2001


    FOLLOWING CARS WITH ELASTIC BANDS

    Ulbrich, Fritz / Sundermann, Stephan / Langner, Tobias et al. | British Library Conference Proceedings | 2018


    Following Cars With Elastic Bands

    Ulbrich, Fritz / Sundermann, Stephan / Langner, Tobias et al. | IEEE | 2018


    Stretchy "Elastic" Bands

    Karplus, A. K. | British Library Conference Proceedings | 1998