Study on potential field based motion planning and control for automated vehicle collision avoidance systems
| Autor: | Satoshi Kuroda, Mohd Azizi Abdul Rahman, Nurbaiti Wahid, Pongsathom Raksincharoensak, Hairi Zamzuri |
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| Rok vydání: | 2017 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Engineering business.industry 05 social sciences Control (management) Advanced driver assistance systems 02 engineering and technology Tracking (particle physics) Track (rail transport) Motion (physics) Computer Science::Robotics 020901 industrial engineering & automation 0502 economics and business Trajectory Motion planning business Simulation Collision avoidance |
| Zdroj: | ICM |
| DOI: | 10.1109/icmech.2017.7921105 |
| Popis: | This study presents the development of motion planning and control of an advanced driver assistance systems for vehicle collision avoidance. The motion planning for collision avoidance is formulated using artificial potential field approach based on risk perception of human driver. Then, the assistance systems is realized based on steering control system and longitudinal force distribution control to track the vehicle desired motion. Performance evaluation of motion planning generated based on difference vehicle speed is carried out in tracking the collision avoidance trajectory. The simulation results obtained show that the approached strategy was successfully leads to collision avoidance manoeuvre for the planning driving scenario. |
| Databáze: | OpenAIRE |
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