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Determining the Local Density Around a Vehicle Using a Moving Rectangle

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Authors:

(1) Mehdi Naderi;

(2) Markos Papageorgiou;

(3) Dimitrios Troullinos;

(4) Iasson Karafyllis;

(5) Ioannis Papamichail.

Table of Links

Abstract and Introduction

Vehicle Modeling

The Nonlinear Feedback Control

OD Corridors and Desired Orientations

Boundary and Safety Controllers

Simulation Results

Conclusion

Appendix A: Collision Detection

Appendix B: Transformed ISO-Distance curves

Appendix C: Local Density

Appendix D: Safety Controller Details

Appendix E: Controller Parameters

References

APPENDIX C: LOCAL DENSITY

To determine the local density, a moving rectangle with length L and width W around the vehicle is considered which is aligned with the ego vehicle’s orientation, see Fig. 21. The


Fig. 21. Local density rectangle



This paper is available on arxiv under CC 4.0 license.


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