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.
Skip Nav Destination
e-mail: gerdes@cdr.stanford.edu
e-mail: ejross@cdr.stanford.edu
Article navigation
September 2001
Technical Papers
A Unified Approach to Driver Assistance Systems Based on Artificial Potential Fields
J. Christian Gerdes,
e-mail: gerdes@cdr.stanford.edu
J. Christian Gerdes
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
Search for other works by this author on:
Eric J. Rossetter
e-mail: ejross@cdr.stanford.edu
Eric J. Rossetter
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
Search for other works by this author on:
J. Christian Gerdes
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
e-mail: gerdes@cdr.stanford.edu
Eric J. Rossetter
Design Division Department of Mechanical Engineering Stanford University Stanford, CA 94305-4021
e-mail: ejross@cdr.stanford.edu
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division November 12, 1999. Associate Editor: G. Rizzoni.
J. Dyn. Sys., Meas., Control. Sep 2001, 123(3): 431-438 (8 pages)
Published Online: November 12, 1999
Article history
Received:
November 12, 1999
Citation
Gerdes, J. C., and Rossetter, E. J. (November 12, 1999). "A Unified Approach to Driver Assistance Systems Based on Artificial Potential Fields ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 431–438. https://doi.org/10.1115/1.1386788
Download citation file:
Get Email Alerts
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Innovative Pressure Control With ANFIS-Enhanced Mode Switching for High-Speed Pneumatic Systems
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Sub-Optimal Longitudinal Control of Road Vehicles With Capacity and Safety Considerations
J. Dyn. Sys., Meas., Control (March,2004)
Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability
J. Dyn. Sys., Meas., Control (September,2006)
Optimal Torque Distribution for the Stability Improvement of a Four-Wheel Distributed-Driven Electric Vehicle Using Coordinated Control
J. Comput. Nonlinear Dynam (September,2016)
Mixed Slip-Deceleration Control in Automotive Braking Systems
J. Dyn. Sys., Meas., Control (January,2007)
Related Proceedings Papers
Related Chapters
A Methodology for Verification of Nearest Neighbours Avalanche Forecasts Based on Qualitative Expert Assessments (PSAM-0322)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Practical Applications
Robust Control: Youla Parameterization Approach
Engineering Design about Electro-Hydraulic Intelligent Control System of Multi Axle Vehicle Suspension
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)