Potential Field Based Motion Planning with Steering Control and DYC for ADAS
Abstract: In this study, the
development of motion planning and control for collision avoidance driver assistance
systems is presented. A potential field approach has been used in formulating
the collisionavoidance algorithm based on predicted vehicle motion. Then, to
realize the advanced driver assistancesystems (ADAS) for collision avoidance,
steering control system and direct yaw moment control (DYC) isdesigned to
follow the desired vehicle motion. Performance evaluation is conducted in
simulationenvironment in term of its performance in avoiding the obstacles.
Simulation results show that the vehicle collision avoidance assistance systems
can successfully complete the avoidance behavior without colliding.
Author: Nurbaiti Wahid
Journal Code: jptkomputergg170073
