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Semi-autonomous Avoidance of Moving Hazards for Passenger Vehicles
MIT.
MIT, USA.
Ford Research Laboratories, Ford Motor Co., Dearborn, MI 48124, United States.
Ford Research Laboratories, Ford Motor Co., Dearborn, MI 48124, United States.
Vise andre og tillknytning
2010 (engelsk)Inngår i: Proceedings of the ASME Dynamic Systems and Control Conference--2010: presented at 2010 ASME Dynamic Systems and Control Conference, September 12-15, 2010 Cambridge, Mass., USA, New York: ASME Press, 2010, s. 141-148Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper presents a method for semi-autonomous hazard avoidance in the presence of unknown moving obstacles and unpredictable driver inputs. This method iteratively predicts the motion and anticipated intersection of the host vehicle with both static and dynamic hazards and excludes projected collision states from a traversable corridor. A model predictive controller iteratively replans a stability-optimal trajectory through the navigable region of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure safe hazard avoidance. The efficacy of this approach is demonstrated through both simulated and experimental results using a semi-autonomously controlled Jaguar S-Type. Copyright © 2010 by ASME.

sted, utgiver, år, opplag, sider
New York: ASME Press, 2010. s. 141-148
Emneord [en]
Hazard avoidance, Model predictive controllers, Passenger vehicles, Semi-autonomous control, Static and dynamic, Unknown moving obstacles
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20854DOI: 10.1115/DSCC2010-4096Scopus ID: 2-s2.0-79958235971ISBN: 978-079184417-5 OAI: oai:DiVA.org:hh-20854DiVA, id: diva2:586866
Konferanse
ASME 2010 Dynamic Systems and Control Conference, DSCC2010, Cambridge, MA, USA, 12-15 September, 2010
Tilgjengelig fra: 2013-01-13 Laget: 2013-01-13 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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