Steering assisting system for obstacle avoidance based on personalized potential field

Abstract

This paper presents the identification technique of the personalized potential map to design the obstacle avoidance assisting control. First of all, the personalized potential map, which is considered to represent the driver's risk feeling to environment is learned by using the obstacle avoidance driving data. Next, the reference path is calculated with gradient method considering the vehicle dynamics from identified potential field, and the avoidance assisting system is realized so as to track on the obtained path. Finally, the validity of the proposed assisting system is verified.