contributor author | J. Christian Gerdes | |
contributor author | Eric J. Rossetter | |
date accessioned | 2017-05-09T00:04:27Z | |
date available | 2017-05-09T00:04:27Z | |
date copyright | September, 2001 | |
date issued | 2001 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26286#431_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/124950 | |
description abstract | 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | A Unified Approach to Driver Assistance Systems Based on Artificial Potential Fields | |
type | Journal Paper | |
journal volume | 123 | |
journal issue | 3 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.1386788 | |
journal fristpage | 431 | |
journal lastpage | 438 | |
identifier eissn | 1528-9028 | |
keywords | Force | |
keywords | Stability | |
keywords | Damping | |
keywords | Vehicles | |
keywords | Control equipment | |
keywords | Dynamics (Mechanics) | |
keywords | Functions | |
keywords | Control systems AND Tires | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2001:;volume( 123 ):;issue: 003 | |
contenttype | Fulltext | |