hh.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Experimental Study of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios
MIT.
MIT.
Ford Research Laboratories, Ford Motor Company, Dearborn, MI, United States.
MIT.
2010 (Engelska)Ingår i: FIELD AND SERVICE ROBOTICS, Berlin: Springer Berlin/Heidelberg, 2010, s. 59-68Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper describes the design of an optimal-control-based active safety framework that performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. The vehicle navigation problem is formulated as a constrained optimal control problem with constraints bounding a navigable region of the road surface. A model predictive controller iteratively plans an optimal vehicle trajectory through the constrained corridor. Metrics from this "best-case" scenario establish the minimum threat posed to the vehicle given its current state. Based on this threat assessment, the level of controller intervention required to prevent departure from the navigable corridor is calculated and driver/controller inputs are scaled accordingly. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a navigable corridor of travel. It also allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. Experimental results are presented here to demonstrate the framework's semi-autonomous performance in hazard avoidance scenarios.

Ort, förlag, år, upplaga, sidor
Berlin: Springer Berlin/Heidelberg, 2010. s. 59-68
Serie
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 62
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20740ISI: 000290175900006ISBN: 978-3-642-13407-4 OAI: oai:DiVA.org:hh-20740DiVA, id: diva2:586847
Konferens
7th International Conference on Field and Service Robotics, JUL 14-16, 2009, Cambridge, MA
Tillgänglig från: 2013-01-13 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Personposter BETA

Iagnemma, Karl

Sök vidare i DiVA

Av författaren/redaktören
Iagnemma, Karl
Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetricpoäng

isbn
urn-nbn
Totalt: 229 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf