From robotics to automotive: Lane-keeping and collision avoidance based on elastic bands

Authors: Sattel, Thomas; Brandt, Thorsten

Source: Vehicle System Dynamics, Volume 46, Number 7, July 2008 , pp. 597-619(23)

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Abstract:

In the near future, drivers will more and more share vehicle guidance with assistance systems. This contribution provides a potential field-based approach to the underlying motion planning problem. In doing so, the concept of elastic bands, known from robotics, is extended to automotive applications. Contrary to robotic applications, extrapolation routines anticipating the motion of the surrounding traffic are incorporated in the motion planning. New in this paper is the distinction of different types of obstacles such as traffic staying in its lane and traffic intending to depart from it. Beyond that, the motion planning adapts to the driver's commands. The driver can be included in the overall control loop by means of a haptic interface generating a torque that depends on the difference of the actual steering angle and the steering angle necessary to follow the planned trajectory. However, this contribution focuses only on the underlying motion planning procedure.

Keywords: driver assistance; collision avoidance; lane-keeping; path planning; potential field; human-machine interaction

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00423110701543452

Affiliations: 1: Mechatronics and Dynamics Group, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Publication date: 2008-07-01