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
- Engineering(all)
- Sustainable Development Goals
- SDG 3 - Good Health and Well-being