Page 103 - Dynamic Vision for Perception and Control of Motion

3.4 Behavioral Capabilities for Locomotion 87

making with respect to safe behavior; the exact feedback laws used by other sub-
jects need not be known.

Table 3.3. Typical behavioral capabilities (skills) needed for road vehicles

Longi- Feed-forward control Feedback control
tudinal (maneuver)
1 Acceleration from standstill to speed Drive at constant speed
set
Transition to convoy driving from Distance keeping to vehicle ahead
higher speed (average values, fluctuations)
2 Observe right of way at intersections
3 Braking to a preset speed Safe convoy driving with
distance = f(speed)
4 Braking to stop at reasonable distance Halt at preset location
(moderate, early onset)
5 Stop and Go driving
6 Emergency stops
Lateral
7 Lane changing [ranges and maneuver Lane keeping (accuracy), Road-
times as f (speed)] running, Line following
8 Follow vehicle ahead (in maneuvers Follow vehicle ahead in same
recognized) track
9 Obstacle avoidance Keep safety margin to moving ob-
stacle
10 Handling of road forks Distance keeping to border line
11 Proper setting of turn lights before
start of maneuver
Longit.
+lateral
12 Turning off onto crossroad Moving into lane with flowing
traffic
13 Entering and leaving a traffic circle Entering and driving in a traffic
circle
14 Overtaking behavior [safety margins Observe safety margins
as f (speed)]
15 Negotiating “hairpin” curves Proper reaction to animals de-
(switchbacks) tected on or near the driveway
16 U-turns on bidirectional roads
17 Observing traffic regulations Proper reaction to static obstacles
(max. speed, passing interdiction) detected in own lane
18 Parking in a parking bay Parking alongside the road
More detailed treatment of modeling will be given in the application domains in
later chapters. To aid practical understanding, a simple example of modeling
ground vehicle dynamics will be given in Section 3.4.5. Depending on the situation
and maneuver intended, different models may be selected. In lateral control, a
third-order model is sufficient for smooth and slow control of lateral position of a
vehicle when tire dynamics does not play an essential role. A fifth-order model tak-