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

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. (A*)

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00423114
• Authors:
  • SATTEL, T
  • BRANDT, T
• Publication Date: 2008-7

Language

• English

Media Info

• Pagination: 597-619
• Serial:
  • Vehicle System Dynamics
  • Publisher: Taylor & Francis
  • ISSN: 0042-3114
  • EISSN: 1744-5159
  • Serial URL: https://www.tandfonline.com/toc/nvsd20/current

Subject/Index Terms

• TRT Terms: Automation; Autonomous intelligent cruise control; Control; Crash avoidance systems; Crashes; Driving; Dynamics; Elasticity (Mechanics); Human factors; Intelligent transportation systems; Motor vehicle navigational aids; Planning; Robots; Route guidance; Simulation; Steering; Traffic lanes; Vehicles
• Uncontrolled Terms: Guidance
• ITRD Terms: 1451: Adaptive cruise control; 3882: Automatic; 1631: Collision; 3874: Control; 8743: Driver assistance system; 1855: Driving (veh); 5473: Dynamics; 5912: Elasticity; 9104: Guidance; 2257: Human factor; 8735: Intelligent transport system; 143: Planning; 9124: Robot; 8771: Route guidance; 9103: Simulation; 1834: Steering (process); 2827: Traffic lane; 1255: Vehicle
• Subject Areas: Highways; Operations and Traffic Management; Planning and Forecasting; Safety and Human Factors; Vehicles and Equipment; I90: Vehicles; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01109595
• Record Type: Publication
• Source Agency: TRL
• Files: ITRD
• Created Date: Aug 25 2008 8:45AM