Details
| Translated title of the contribution | Towards integrated longitudinal and lateral guidance of vehicles in emergency situations |
|---|---|
| Original language | German |
| Pages (from-to) | 779-808 |
| Number of pages | 30 |
| Journal | VDI Berichte |
| Issue number | 1892 PART 2 |
| Publication status | Published - 2005 |
| Externally published | Yes |
Abstract
Drivers' inattention and excessive demands are the main reasons for serious traffic accidents. This article presents an approach for driver assistance, particularly suited in emergency situations. Starting from an environment model of the traffic space given by a hazard potential, the motion planning is based on elastic bands. In doing so, elastic bands explore the hazard potential such as antennae of insects. Moreover, the holistic character of the concept is achieved by projecting the preplanned maneuver on the control values of the vehicle also by use of potentials: Deviations of the vehicle from the demanded maneuver are included in a guidance potential whose derivation provides a virtual guidance force penalizing the deviation. This virtual force is transformed into the according control values such as the steering angle, driving, and braking forces.
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In: VDI Berichte, No. 1892 PART 2, 2005, p. 779-808.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Zur integrierten Längs- und Querführung von Kraftfahrzeugen in Notsituationen
AU - Brandt, Thorsten
AU - Sattel, Thomas
AU - Wallaschek, Jörg
N1 - Copyright: Copyright 2011 Elsevier B.V., All rights reserved.
PY - 2005
Y1 - 2005
N2 - Drivers' inattention and excessive demands are the main reasons for serious traffic accidents. This article presents an approach for driver assistance, particularly suited in emergency situations. Starting from an environment model of the traffic space given by a hazard potential, the motion planning is based on elastic bands. In doing so, elastic bands explore the hazard potential such as antennae of insects. Moreover, the holistic character of the concept is achieved by projecting the preplanned maneuver on the control values of the vehicle also by use of potentials: Deviations of the vehicle from the demanded maneuver are included in a guidance potential whose derivation provides a virtual guidance force penalizing the deviation. This virtual force is transformed into the according control values such as the steering angle, driving, and braking forces.
AB - Drivers' inattention and excessive demands are the main reasons for serious traffic accidents. This article presents an approach for driver assistance, particularly suited in emergency situations. Starting from an environment model of the traffic space given by a hazard potential, the motion planning is based on elastic bands. In doing so, elastic bands explore the hazard potential such as antennae of insects. Moreover, the holistic character of the concept is achieved by projecting the preplanned maneuver on the control values of the vehicle also by use of potentials: Deviations of the vehicle from the demanded maneuver are included in a guidance potential whose derivation provides a virtual guidance force penalizing the deviation. This virtual force is transformed into the according control values such as the steering angle, driving, and braking forces.
UR - http://www.scopus.com/inward/record.url?scp=22444441728&partnerID=8YFLogxK
M3 - Artikel
AN - SCOPUS:22444441728
SP - 779
EP - 808
JO - VDI Berichte
JF - VDI Berichte
SN - 0083-5560
IS - 1892 PART 2
ER -