Study on potential field based motion planning and control for automated vehicle collision avoidance systems

摘要

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.