On Automatic Collision Avoidance Systems 2005-01-1479
In future automotive collision avoidance systems (CAS) collision-free path planning will be required. For this reason, two possible path planning techniques are compared. The first method is based on the mathematical theory of differential games, the second method focuses on so-called elastic bands. However, the method of elastic bands is essentially modified to provide solutions in complex driving situations. Furthermore, it is shown how path planning, path following control and driving condition estimation can be embedded in a possible overall CAS-setup. Therein, driving conditions are estimated based on the characteristic velocity. Finally, simulation results for an emergency maneuver are presented.