Details
| Translated title of the contribution | On automatic collision avoidance |
|---|---|
| Original language | German |
| Pages (from-to) | 125-143 |
| Number of pages | 19 |
| Journal | VDI Berichte |
| Issue number | 1864 |
| Publication status | Published - 2004 |
| Externally published | Yes |
Abstract
This article treats the structure of future automotive collision avoidance systems. As an essential feature of these systems, two path planning techniques are presented and compared. The first method is based on the mathematical theory of differential games. The second approach, using so-called elastic bands, is adapted from robotics in a way that allows complex traffic situations to be treated. For automotive applications of this approach, a method for modeling moving obstacles and the borders of the road by means of virtual nonlinear potentials is shown. Also, an algorithm for a numerical solution to this approach is given. Besides path planning, path following and stability considerations are important issues in automatic collision avoidance. Thus, the basic structure of path following control is briefly discussed, and a technique for stability estimation is mentioned. Employing a model, the stability of the vehicle is determined while the trajectories are generated. For performance reasons, the complexity of the vehicle model has to be as low as possible. However, a minimum level of accuracy must be retained especially for the lateral vehicle dynamics.
ASJC Scopus subject areas
- Engineering(all)
- General Engineering
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In: VDI Berichte, No. 1864, 2004, p. 125-143.
Research output: Contribution to journal › Review article › Research › peer review
}
TY - JOUR
T1 - Ein Ansatz zur automatischen Kollisionsvermeidung
AU - Brandt, T.
AU - Sattel, T.
AU - Wallaschek, J.
N1 - Copyright: Copyright 2012 Elsevier B.V., All rights reserved.
PY - 2004
Y1 - 2004
N2 - This article treats the structure of future automotive collision avoidance systems. As an essential feature of these systems, two path planning techniques are presented and compared. The first method is based on the mathematical theory of differential games. The second approach, using so-called elastic bands, is adapted from robotics in a way that allows complex traffic situations to be treated. For automotive applications of this approach, a method for modeling moving obstacles and the borders of the road by means of virtual nonlinear potentials is shown. Also, an algorithm for a numerical solution to this approach is given. Besides path planning, path following and stability considerations are important issues in automatic collision avoidance. Thus, the basic structure of path following control is briefly discussed, and a technique for stability estimation is mentioned. Employing a model, the stability of the vehicle is determined while the trajectories are generated. For performance reasons, the complexity of the vehicle model has to be as low as possible. However, a minimum level of accuracy must be retained especially for the lateral vehicle dynamics.
AB - This article treats the structure of future automotive collision avoidance systems. As an essential feature of these systems, two path planning techniques are presented and compared. The first method is based on the mathematical theory of differential games. The second approach, using so-called elastic bands, is adapted from robotics in a way that allows complex traffic situations to be treated. For automotive applications of this approach, a method for modeling moving obstacles and the borders of the road by means of virtual nonlinear potentials is shown. Also, an algorithm for a numerical solution to this approach is given. Besides path planning, path following and stability considerations are important issues in automatic collision avoidance. Thus, the basic structure of path following control is briefly discussed, and a technique for stability estimation is mentioned. Employing a model, the stability of the vehicle is determined while the trajectories are generated. For performance reasons, the complexity of the vehicle model has to be as low as possible. However, a minimum level of accuracy must be retained especially for the lateral vehicle dynamics.
UR - http://www.scopus.com/inward/record.url?scp=9144253407&partnerID=8YFLogxK
M3 - Übersichtsarbeit
AN - SCOPUS:9144253407
SP - 125
EP - 143
JO - VDI Berichte
JF - VDI Berichte
SN - 0083-5560
IS - 1864
ER -