Skip to main content

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

Buy Article:

$63.00 plus tax (Refund Policy)


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

Document Type: Research Article


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

Publication date: 2008-07-01

  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more