Towards vehicle trajectory planning for collision avoidance based on elastic bands
Thorsten Brandt, Thomas Sattel, Jörg Wallaschek · International Journal of Vehicle Autonomous Systems · 2007
Vehicle safety and driver assistance systems are an active field of research. Therein, a current trend focuses on guidance systems that link the vehicle to its environment. This paper presents a potential field based guidance strategy, which supports lane keeping and evasion manoeuvres. Therein, potential fields are scaled according to the hazard levels associated to the borders of the road and to other traffic participants. Trajectories of low hazard levels are generated by means of elastic bands that sense the environment like antennae of insects. An important contribution of this predictive motion planning approach is the incorporation of moving obstacles.