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Path planning procedures belong to the key software elements for advanced driver assistance systems including vehicle following, lane-keeping, lane-changing, or collision avoidance. One approach to realize an integrated driver assistance on the guidance level is based on an elastic band immersed in a potential field hazard map. This paper presents an extension of this elastic band path planning method, incorporating the vehicle dynamics in the elastic band. It is shown that this measure enhances the drivability of the planned paths.