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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    Title :

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


    Additional title:

    Von Robotertechnik zum Auto: Fahrspureinhaltung und Kollisionsschutz auf der Basis elastischer Bänder


    Contributors:

    Published in:

    Vehicle System Dynamics ; 46 , 7 ; 597-619


    Publication date :

    2008


    Size :

    23 Seiten, 11 Bilder, 2 Tabellen, 17 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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