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
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   Reference Frames and Geometry
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  Tire Modeling
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   Tire Kinematics
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   Tire Forces: The Dugoff Model
•  
  Double-Track Model
•  
   Kinematics
•  
   Dynamics
•  
   Single-Track Model
•  
   Kinematics
•  
   Dynamics
•  
   Linear Single-Track Model
•  
   Vehicle-Fixed Formulation
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   Trajectory-Fixed Formulation
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  Steering Characteristics
•  
   Ackermann Steering
•  
   Self Steering Gradient
•  
   Model Validation with Experimental Data
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   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
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   Cooperative Motion Planning
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   Driver's Steering Intention
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   Vehicle State Extrapolation
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   Driver's Maneuver Strategy
•  
  Algorithm and Computation
•  
   Distance Computation
•  
   Initial Solution
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   Equilibrium Solution
•  
  Simulations
•  
   Scenario I: Entering Traffic
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   Scenario II: Crossing Animal
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   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
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   Nonlinear Mapping
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   Linear Mapping
•  
   Path Tracking Error
•  
   Guidance Kinematics
•  
   Guidance Dynamics
•  
  Stability Analysis and Controller Design
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   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