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