This paper presents an approach to vehicle control based on the paradigm of artificial potential fields. Using this method, the dynamics of the vehicle are coupled with the environment in a manner that ensures that the system exhibits safe motion in the absence of driver inputs. The driver remains in control of the vehicle, however, with the control systems presenting a predictable and safe set of dynamics. With the control approach presented here, integration of various assistance systems is easily achieved through simple superposition of individual potential and damping functions. A simple example of a combined lanekeeping and stability system demonstrates how this can be accomplished. Preliminary simulation results suggest that both safety and driveability are achievable with such a system, prompting further investigation.

Issue Section:
Technical Papers
Keywords:
driver information systems, safety, stability, road vehicles, transport control
Topics:
Control systems, Damping, Stability, Vehicles, Control equipment, Dynamics (Mechanics), Safety, Yaw, Hazards, Simulation
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Copyright © 2001
 by ASME
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