Trajectory Modelling for Autonomous Driving: Investigating the Artificial Potential Field Method
- Although the focus of autonomous driving is on maximizing safety and efficiency, comfort and familiarity will play a key role in the adoption of autonomous driving. Therefore, it is important to develop algorithms that can mimic human driving skills and adapt to individual driving styles. The potential field method (PFM) is an obstacle avoidance algorithm for autonomous driving that uses a repulsive potential field, as a environment model, to navigate the vehicle to the lowest risk potential. In this paper, the PFM is used in a overtake scenario at high speed, to test the impact of using prediction when calculating the ideal yaw rate. Analysis is done on how the potential field can be used for lane keeping while following a car and then for overtaking it. A driving simulator is used to record human driving data and compare it with automated driving using a PFM as is proposed by [3], with modifications to enable future prediction.
Author: | Andreas Zieglmeir, Toshiya Hirose, Stefan-Alexander SchneiderORCiDGND |
---|---|
URN: | urn:nbn:de:bvb:859-21611 |
DOI: | https://doi.org/10.60785/opus-2161 |
Place of publication: | Kempten |
Document Type: | conference proceeding (article) |
Conference: | 2023-2024 JSAE KANTO International Conference of Automotive Technology for Young Engineers (ICATYE) |
Language: | English |
Year of first Publication: | 2024 |
Publishing Institution: | Hochschule für angewandte Wissenschaften Kempten |
Tag: | autonomous driving; driver model; driving simulator; hazard map; lateral control; potential field; repulsive field; risk curve; safety |
Number of pages: | 3 Seiten |
Institutes: | Fakultät Elektrotechnik |
Dewey Decimal Classification: | 6 Technik, Medizin, angewandte Wissenschaften / 60 Technik |
Open Access: | open_access |
Research focus: | FSP2: Mobilität |
Publication Lists: | Schneider, Stefan-Alexander |
Publication reviewed: | begutachtet |
Licence (German): | Creative Commons - CC BY - Namensnennung 4.0 International |
Release Date: | 2024/04/30 |