Driver-aid system using path-planning for lateral vehicle control

Jean-Philippe Lauffenburger (1) , Michel Basset (1) , Frank Coffin (2) , Gérard Gissinger (3)

1 IRIMAS - Institut de Recherche en Informatique Mathématiques Automatique Signal
2 Renault Research Department
3 MIPS - Modélisation, Intelligence, Processus et Système

The Navigation Aided Intelligent Cruise Control (N.A.I.C.C.) system acts in the field of the lateral and longitudinal control of a car. This paper only describes the lateral part of this new driver-aid system. Once the vehicle is located on the road, it determines the distance to the next bend and predicts a reference path to negotiate this bend considering the road profile, the vehicle characteristics and the driver's profile. The use of polar curves for the description of a turn eliminates steering function discontinuities by providing continuous curvature along the path. The computation of the polynomial is based on a fuzzy-logic method which determines the characteristics of the end-points of the polynomial curve. In order to compute realistic paths, real experiments were carried out with the instrumented laboratory test car.

Mots clés: Trajectory modelling; Polar polynomials; Intelligent driver-aid system; Real-time; Fuzzy logic

Domaines: Automatique / Robotique

Jean-Philippe Lauffenburger, Michel Basset, Frank Coffin, Gérard Gissinger. Driver-aid system using path-planning for lateral vehicle control. Control Engineering Practice, 2003, 11, pp.217-231. ⟨10.1016/S0967-0661(02)00047-3⟩. ⟨hal-00933588⟩