Title :
An Approach to Integrate Vehicle Dynamics in Motion Planning for Advanced Driver Assistance Systems
Author :
Hesse, Tobias ; Sattel, Thomas
Author_Institution :
Univ. of Paderborn, Paderborn
Abstract :
Path planning procedures belong to the key software elements for advanced driver assistance systems including vehicle following, lane-keeping, lane-changing, or collision avoidance. One approach to realize an integrated driver assistance on the guidance level is based on an elastic band immersed in a potential field hazard map. This paper presents an extension of this elastic band path planning method, incorporating the vehicle dynamics in the elastic band. It is shown that this measure enhances the drivability of the planned paths.
Keywords :
collision avoidance; control engineering computing; driver information systems; vehicle dynamics; advanced driver assistance systems; collision avoidance; integrate vehicle dynamics; lane-changing; lane-keeping; motion planning; path planning procedures; vehicle following; Acceleration; Bicycles; Intelligent robots; Intelligent vehicles; Kinematics; Mechanical engineering; Navigation; Path planning; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location :
Istanbul
Print_ISBN :
1-4244-1067-3
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2007.4290288
