Details
| Original language | English |
|---|---|
| Pages (from-to) | 28-46 |
| Number of pages | 19 |
| Journal | International Journal of Vehicle Autonomous Systems |
| Volume | 5 |
| Issue number | 1-2 |
| Publication status | Published - 20 Aug 2007 |
| Externally published | Yes |
Abstract
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.
Keywords
- Collision avoidance, Driver assistance, Elastic band, Path planning, Trajectory planning, Vehicle control, Vehicle dynamics
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Automotive Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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In: International Journal of Vehicle Autonomous Systems, Vol. 5, No. 1-2, 20.08.2007, p. 28-46.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Towards vehicle trajectory planning for collision avoidance based on elastic bands
AU - Brandt, Thorsten
AU - Sattel, Thomas
AU - Wallaschek, Jörg
N1 - Copyright: Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2007/8/20
Y1 - 2007/8/20
N2 - 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.
AB - 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.
KW - Collision avoidance
KW - Driver assistance
KW - Elastic band
KW - Path planning
KW - Trajectory planning
KW - Vehicle control
KW - Vehicle dynamics
UR - http://www.scopus.com/inward/record.url?scp=34548828256&partnerID=8YFLogxK
U2 - 10.1504/IJVAS.2007.014928
DO - 10.1504/IJVAS.2007.014928
M3 - Article
AN - SCOPUS:34548828256
VL - 5
SP - 28
EP - 46
JO - International Journal of Vehicle Autonomous Systems
JF - International Journal of Vehicle Autonomous Systems
SN - 1471-0226
IS - 1-2
ER -