Combining lanekeeping and vehicle following with hazard maps

摘要

This paper addresses the issues involved with including moving obstacles in a hazard map or potential field framework for driver assistance systems. By treating vehicle following as a combination of a safety distance and a hazard or potential function, common following strategies, such as constant time headway and guaranteed collision avoidance, can be incorporated into this framework without modification. when combining these fields with lateral potential fields for lanekeeping, however, challenges arise due to the natural asymmetry between the longitudinal and lateral velocity of a vehicle. One solution to this is to scale the lateral force associated with the moving vehicle, thus deviating from a strict potential field paradigm for control. This can still be shown to produce a bounded hazard in the absence of driver input, though the entire system energy is no longer guaranteed to decrease.