Abstract
Keywords: driver assistance, behavior decision, path planning, potential field, fuzzy logic
Collision avoidance systems and other assistance systems for the vehicle guidance are among the main innovations for future cars. For these systems, trajectory planning algorithms belong to the key software modules. This paper presents how a predictive potential field path planning method can be augmented by a fuzzy behavior decision module in order to add a velocity planning component and to take into account the driver's intention at the behavioral level. It is discussed how the trajectory planning can be embedded in a general system structure for driver assistance systems. The combined fuzzy-potential field trajectory planning was implemented and integrated successfully. Its effectiveness within the suggested structure is shown in the simulation results.