A unified approach to driver assistance systems based on artificial potential fields

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.