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