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1、ControlEngineeringPractice11(2003)217–231$Driver-aidsystemusingpath-planningforlateralvehiclecontrola,abaJ.Ph.Lauffenburger*,M.Basset,F.Coffin,G.L.GissingeraMIPSLaboratory,DepartmentofAutomotiveControl(MIAM-ESSAIM),UniversityofHaute-Alsace,12ruedesfre`r
2、esLumie`re68093,Mulhouse,FrancebRENAULTResearchDepartment,CTAParcdeGaillonG13,F-27940Aubevoye,FranceReceived19October2001;accepted17January2002AbstractTheNavigationAidedIntelligentCruiseControl(N.A.I.C.C.)systemactsinthefieldofthelateralandlongitudinalc
3、ontrolofacar.Thispaperonlydescribesthelateralpartofthisnewdriver-aidsystem.Oncethevehicleislocatedontheroad,itdeterminesthedistancetothenextbendandpredictsareferencepathtonegotiatethisbendconsideringtheroadprofile,thevehiclecharacteristicsandthedriver’s
4、profile.Theuseofpolarcurvesforthedescriptionofaturneliminatessteeringfunctiondiscontinuitiesbyprovidingcontinuouscurvaturealongthepath.Thecomputationofthepolynomialisbasedonafuzzy-logicmethodwhichdeterminesthecharacteristicsoftheend-pointsofthepolynomia
5、lcurve.Inordertocomputerealisticpaths,realexperimentswerecarriedoutwiththeinstrumentedlaboratorytestcar.r2003ElsevierScienceLtd.Allrightsreserved.Keywords:Trajectorymodelling;Polarpolynomials;Intelligentdriver-aidsystem;Real-time;Fuzzylogic1.Introducti
6、onsystemsconsistsinreplacingthedriverforthesimplesttasksandinassistinghimasmuchaspossibleforEverincreasingtrafficforcesthedrivertoprocessathemorecomplicatedones.Theprincipleisbasedonthegrowingamountofinformationand,atthesametime,minimisationofthedirecti
7、nteractionsbetweenthetotakemore,andquicker,decisions.Thus,incriticaldriverandthevehicleandthemaximisationofthosesituations,theamountofinformationmayexceedthebetweenthedriver-aidsystem(alsocalledcopilot)anddriver’seffectiveprocessingcapability.Thankstot
8、hethevehicle.Safetysystemsandmoreparticularlyimprovementsincomputertechnologiesandinmecha-copilotswhicharecurrentlyunderdevelopmentandtronics,thedrivercannowbeassistedinthedetectionwillbeavailableinthenextdecades(Shladover,1998)and/orco
