DocumentCode
3269373
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
fYear
2007
fDate
13-15 June 2007
Firstpage
1240
Lastpage
1245
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location
Istanbul
ISSN
1931-0587
Print_ISBN
1-4244-1067-3
Electronic_ISBN
1931-0587
Type
conf
DOI
10.1109/IVS.2007.4290288
Filename
4290288
Link To Document