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Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

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  • Cuauhtémoc Acosta Lúa
  • Gerardo De Jesus Díaz
  • Stefano Di Gennaro
  • Tarek Kabbani

Abstract

This paper presents a reference generator for ground vehicles, based on potential fields adapted to the case of vehicular dynamics. The reference generator generates signals to be tracked by the vehicle, corresponding to a trajectory avoiding collisions with obstacles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The reference generator is used with a controller to ensure the tracking of the accident-free reference. This approach can be used for vehicle autonomous driving or for active control of manned vehicles. Simulation results, presented for the autonomous driving, consider a scenario inspired by the so-called moose (or elk) test, with the presence of other collaborative vehicles.

Suggested Citation

  • Cuauhtémoc Acosta Lúa & Gerardo De Jesus Díaz & Stefano Di Gennaro & Tarek Kabbani, 2018. "Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-10, February.
    • Handle: RePEc:hin:jnlmpe:4604395
    DOI: 10.1155/2018/4604395
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