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Design and Development 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, Dearborn, MI 48124, United States.
MIT.
2011 (Engelska)Ingår i: Robotics Research, Berlin: Springer Berlin/Heidelberg, 2011, s. 39-54Konferensbidrag, 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. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. A model predictive controller iteratively plans a best-case vehicle trajectory through a navigable corridor as a constrained optimal control problem. The framework then uses this trajectory to assess the threat posed to the vehicle and intervenes in proportion to this threat. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a navigable corridor of travel. Simulation and experimental results are presented here to demonstrate the framework's ability to incorporate configurable intervention laws while sharing control with a human driver. © 2011 Springer-Verlag.

Ort, förlag, år, upplaga, sidor
Berlin: Springer Berlin/Heidelberg, 2011. s. 39-54
Serie
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 70
Nyckelord [en]
Active safety, Configurable, Constrained optimal control problems, Design and Development, Hazard avoidance, Human drivers, Model predictive controllers, Passenger vehicles, Semi-autonomous control, Threat assessment, Trajectory Planning, Vehicle trajectories
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20734DOI: 10.1007/978-3-642-19457-3_3ISI: 000309893200003Scopus ID: 2-s2.0-79957976439ISBN: 978-3-642-19456-6 OAI: oai:DiVA.org:hh-20734DiVA, id: diva2:586851
Konferens
14th International Symposium on Robotics Research (ISSR), AUG 31-SEP 03, 2009, Lucerne, SWITZERLAND
Tillgänglig från: 2013-01-13 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

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