This paper presents an approach to vehicle control based on the paradigm of artificial potential fields. Using this method, the dynamics of the vehicle are coupled with the environment in a manner that ensures that the system exhibits safe motion in the absence of driver inputs. The driver remains in control of the vehicle, however, with the control systems presenting a predictable and safe set of dynamics. With the control approach presented here, integration of various assistance systems is easily achieved through simple superposition of individual potential and damping functions. A simple example of a combined lanekeeping and stability system demonstrates how this can be accomplished. Preliminary simulation results suggest that both safety and driveability are achievable with such a system, prompting further investigation.
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e-mail: gerdes@cdr.stanford.edu
e-mail: ejross@cdr.stanford.edu
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September 2001
Technical Papers
A Unified Approach to Driver Assistance Systems Based on Artificial Potential Fields
J. Christian Gerdes,
e-mail: gerdes@cdr.stanford.edu
J. Christian Gerdes
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
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Eric J. Rossetter
e-mail: ejross@cdr.stanford.edu
Eric J. Rossetter
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
Search for other works by this author on:
J. Christian Gerdes
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
e-mail: gerdes@cdr.stanford.edu
Eric J. Rossetter
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
e-mail: ejross@cdr.stanford.edu
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division November 12, 1999. Associate Editor: G. Rizzoni.
J. Dyn. Sys., Meas., Control. Sep 2001, 123(3): 431-438 (8 pages)
Published Online: November 12, 1999
Article history
Received:
November 12, 1999
Citation
Gerdes, J. C., and Rossetter, E. J. (November 12, 1999). "A Unified Approach to Driver Assistance Systems Based on Artificial Potential Fields ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 431–438. https://doi.org/10.1115/1.1386788
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