A predictive potential field concept for shared vehicle guidance / Thorsten Brandt. 2007
Content
- Abstract
- Kurzfassung
- Nomenclature
- Introduction
- State of the Art
- Driver Assistance Systems
- Environmental Sensors
- Human Machine Interaction
- Vehicle Guidance Control
- Motion Planning
- Thesis Contributions and Outline
- Lateral Vehicle Dynamics
- Reference Frames and Geometry
- Tire Modeling
- Double-Track Model
- Single-Track Model
- Linear Single-Track Model
- Steering Characteristics
- Model Validation with Experimental Data
- Potential Field based Motion Planning
- Potential Field based Vehicle Guidance Control
- General Concept of Potential Field Guidance
- Mapping a Virtual Guidance Force on Control Inputs
- Path Tracking Error
- Guidance Kinematics
- Guidance Dynamics
- Stability Analysis and Controller Design
- Lyapunov's Direct Method
- Stability Analysis
- Steady State Tracking Error
- A Bound on the Tracking Error - Collision Avoidance
- Sample Controller Design
- Feedforward Control
- Simulations
- Comment on Human Vehicle Guidance
- Shared Vehicle Guidance between Driver and Assistance System
- Conclusion
- Appendix
- Bibliography