Jens Hilgert

Emergency path planning for autonomous vehicles using elastic band theory

In this paper a path planning method for emergency maneuvers of autonomous vehicles is presented. The path planning method is based on the theory of elastic bands. Due to the local disturbances caused by obstacles on the nominal trajectory the elastic behavior allows sufficient flexibility of the emergency trajectory and minimal local changes of curvature. The minimization of local changes of curvature ensures the drivability of the emergency trajectory under vehicle dynamics aspect, which is also considered in this paper. The results of the described method is demonstrated for emergency situations in lane change maneuvers for autonomous vehicles.

Modelling and simulation for mechatronic design in automotive systems

This paper gives an overview of current industry based projects in the field of vehicle modelling and simulation for the mechatronic design of automotive systems. It shows the wide range of applications for analysis and synthesis during the development process, including vehicle systems, vehicle dynamics, occupant safety, adaptive cruise control, hardware-in-the-loop and fault tolerant real-time systems.

Similitude Analysis for Experimental Validation of Path Planning for Autonomous Driving

In this paper a path planning technique for autonomous vehicles is developed which takes geometric and vehicle dynamics criteria into account. Starting with the Bezier spline description of the path, optimizations with respect to driving manoeuvres were performed. To ensure driveability of the planned path vehicle dynamics aspects are taken into account using a simplified vehicle model. The planned path will then be verified by driving tests. In this paper a method based on similitude analysis is developed for verification and validation of driving tests for autonomous vehicles with scaled vehicles. A lane change manoeuvre for a 1:5 scaled vehicle belonging to the Institute of Mechatronics and System Dynamics at the Gerhard Mercator University Duisburg is described using this method

Optimization of emergency trajectories for autonomous vehicles with respect to linear vehicle dynamics

This paper looks at a trajectory planning strategy for autonomous vehicles. The pre-defined nominal trajectory is analyzed with reference to obstacles modeled from circular safety areas. Based on the results of this analysis an emergency trajectory is calculated by using the method of elastic bands. The behavior of the trajectories calculated with this method has been proven to provide flexible trajectories with minimal changes of curvature and therefore good driveability. However in a second step the dynamic behavior of the vehicle is evaluated using the well-known bicycle model along with a first approximation of the steering angle along the trajectory. The trajectory of the vehicle calculated from this steering angle is then improved by iterating the steering angle based on an optimization algorithm

Vehicle Dynamics Observer for a Scaled Test Vehicle

Abstract The validation of vehicle dynamics results for future automotive systems, driver assistance systems up to autonomous driving systems, can be seen as major challenge within the development process. The main reasons are the high cost of driving tests and in conjunction with the increasing risk of damaging or destroying the test vehicle and the involved people depending on the the degree of autonomy. One possibility for avoiding these problems and simultaneously to ensure good experimental results lies in the use of scaled model vehicles. In this paper a method based on similitude analysl for validation of driving tests for future autonomous vehicle systems is introduced and vehicle dynamics observer for a scaled test vehicle are developed.

Development of Smart Vehicles Using a Scaled Mechatronic Environment

Abstract In the future “smart” passenger vehicles will provide additional functionality starting with driver assistance systems and ending up in completely autonomous driving systems. In the first case these systems will mainly ensure comfortable and pleasant autonomous drive along highways. In this paper an advanced method for the whole mechatronic development process of future autonomous vehicle systems is described. Due to the fact that the verification and validation of vehicle dynamics results for future automotive systems can be seen as major challenge within the development process special emphasis is given on this topic. Therefore the paper includes the use of scaled mock-ups (scaled vehicles) within the mechatronic development process in order to satisfy special needs within the experimental verification and validation of future autonomous driving systems.