Artificial potential functions for highway driving with collision avoidance

We present a set of potential function components to assist an automated or semi-automated vehicle in navigating a multi-lane, populated highway. The resulting potential field is constructed as a superposition of disparate functions for lane- keeping, road-staying, speed preference, and vehicle avoi...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 3731 - 3736
Main Authors Wolf, M.T., Burdick, J.W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Automated highways
Collision avoidance
Navigation
Road transportation
Road vehicles
Robot kinematics
Shape control
Space vehicles
Vehicle driving
Velocity control
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Summary:We present a set of potential function components to assist an automated or semi-automated vehicle in navigating a multi-lane, populated highway. The resulting potential field is constructed as a superposition of disparate functions for lane- keeping, road-staying, speed preference, and vehicle avoidance and passing. The construction of the vehicle avoidance potential is of primary importance, incorporating the structure and protocol of laned highway driving. Particularly, the shape and dimensions of the potential field behind each obstacle vehicle can appropriately encourage control vehicle slowing and/or passing, depending on the cars' velocities and surrounding traffic. Hard barriers on roadway edges and soft boundaries between navigable lanes keep the vehicle on the highway, with a preference to travel in a lane center.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543783