Zur integrierten Längs- und Querführung von Kraftfahrzeugen in Notsituationen

authored by

Thorsten Brandt, Thomas Sattel, Jörg Wallaschek

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.

External Organisation(s)

Paderborn University

Type

Article

Journal

VDI Berichte

Pages

779-808

No. of pages

30

ISSN

0083-5560

Publication date

2005

Publication status

Published

Peer reviewed

Yes

ASJC Scopus subject areas

General Engineering

Sustainable Development Goals

SDG 3 - Good Health and Well-being