PRORETA 3: An Integrated Approach to Collision Avoidance and Vehicle Automation - System Description, Requirements and Preliminary Results

摘要

The article describes first results of the research project PRORETA 3 that aims at the development of an integral driver assistance system for collision avoidance and automated vehicle guidance based on a modular' system architecture. For this purpose, relevant information is extracted from a dense environment model and fed into a potential field-based trajectory planner that calculates reference signals for underlying vehicle controllers. In addition, the driver is supported by a human-machine interface.