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A predictive potential field concept for shared vehicle guidance / Thorsten Brandt. 2007
Inhalt
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
Tire Kinematics
Tire Forces: The Dugoff Model
Double-Track Model
Kinematics
Dynamics
Single-Track Model
Kinematics
Dynamics
Linear Single-Track Model
Vehicle-Fixed Formulation
Trajectory-Fixed Formulation
Steering Characteristics
Ackermann Steering
Self Steering Gradient
Model Validation with Experimental Data
Steady State Cornering Maneuver
Unsteady Cornering Maneuver
Potential Field based Motion Planning
Hazard Map
Road
Obstacles
Hazard Map Composition
Elastic Band
Equilibrium Configuration
Node Placement
Constraining Longitudinal Displacements
Cooperative Motion Planning
Driver's Steering Intention
Vehicle State Extrapolation
Driver's Maneuver Strategy
Algorithm and Computation
Distance Computation
Initial Solution
Equilibrium Solution
Simulations
Scenario I: Entering Traffic
Scenario II: Crossing Animal
Scenario III: Passing Maneuver with Oncoming Traffic
Pseudo Code of Motion Planning Algorithm
Potential Field based Vehicle Guidance Control
General Concept of Potential Field Guidance
Mapping a Virtual Guidance Force on Control Inputs
Nonlinear Mapping
Linear Mapping
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
Vehicle Guidance Control Loop
Driving Simulator Exploration
Haptic Human Machine Interface
Driving Simulator Setup
Lane-Keeping and Collision Avoidance Experiments
Results and Discussion
Conclusion
Summary
Future Work
Appendix
Bibliography
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