Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

الملخص EN

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.