Towards vehicle trajectory planning for collision avoidance based on elastic bands

被引：10

作者：

Brandt, Thorsten ^{[1
,2
,3
,4
]}

Sattel, Thomas ^{[1
,5
]}

Wallaschek, Jörg ^{[1
,6
,7
,8
,9
,10
,11
]}

机构：

[1] Heinz Nixdorf Institute, University of Paderborn, Mechatronics and Dynamics, 33102 Paderborn

[2] International Graduate School of Dynamic Intelligent Systems, Paderborn

[3] Department of Mechatronics, Heinz Nixdorf Institute, University of Paderborn

[4] Department of Mechatronics and Dynamics, Heinz Nixdorf Institute, University of Paderborn

来源：

International Journal of Vehicle Autonomous Systems | 2007年 / 5卷 / 1-2期

关键词：

Collision avoidance; Driver assistance; Elastic band; Path planning; Trajectory planning; Vehicle control; Vehicle dynamics;

D O I：

10.1504/IJVAS.2007.014928

中图分类号：

学科分类号：

摘要：

Vehicle safety and driver assistance systems are an active field of research. Therein, a current trend focuses on guidance systems that link the vehicle to its environment. This paper presents a potential field based guidance strategy, which supports lane keeping and evasion manoeuvres. Therein, potential fields are scaled according to the hazard levels associated to the borders of the road and to other traffic participants. Trajectories of low hazard levels are generated by means of elastic bands that sense the environment like antennae of insects. An important contribution of this predictive motion planning approach is the incorporation of moving obstacles. Copyright © 2007 Inderscience Enterprises Ltd.

引用

页码：28 / 46

页数：18

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