Vehicle Reference Generator for Collision-free Paths

摘要

This paper presents a reference generator for ground vehicles. The generated trajectories avoid collisions with obstacles, and can be used for vehicle autonomous driving or for active control of manned vehicles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The potential fields are adapted to the vehicular environment on a road. The reference generator is used with a dynamic controller to ensure the tracking of the accident-free reference. The performance of the proposed generator-based controller is tested on a simulated road scenario.