Collision Avoidance Control on 2D Planar Motion Based on Virtual Repulsive Force Field

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  • 仮想斥力場に基づいた２次元平面の障害物回避制御
  • カソウ セキリョクジョウ ニ モトズイタ 2ジゲン ヘイメン ノ ショウガイブツ カイヒ セイギョ

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Abstract

Advanced driver assistance systems and autonomous driving systems are being enhanced to deal with various types of collision use-cases. To handle those complicated scenarios, the rational and understandable control algorithm on a 2D plane is required. The 2D control methodology assuming virtual repulsive force from obstacles is introduced. As an example, the formulation on the path for collision avoidance against both obstacles on the right and left sides of ego-vehicle is shown. The simulation is conducted not only for lateral parallel shift but also arbitrary approach angle against obstacles. Assuming virtual repulsive force field, the collision avoidance paths can be calculated as the combination of two parabola curves and the control activation points also can be calculated geometrically.

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