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A Unified Approach to Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios
Massachusetts Institute of Technology.
Massachusetts Institute of Technology.
Massachusetts Institute of Technology.
Ford Research Laboratories, Ford Motor Company, Dearborn, MI, United States.
2009 (English)In: IEEE 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009, VOLS 1-9, Piscataway, N.J.: IEEE Press, 2009, 2032-2037 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. 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 the best-case vehicle trajectory through this constrained corridor. 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. Simulated results are presented here to demonstrate the framework's ability to incorporate multiple threat thresholds and configurable intervention laws while sharing control with a human driver. ©2009 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2009. 2032-2037 p.
Series
IEEE International Conference on Systems, Man, and Cybernetics. Conference Proceedings, ISSN 1062-922X
Keyword [en]
Active safety, Hazard avoidance, Human-machine interaction, Lane keeping, Mobile robotics, Model predictive control, MPC, Semi-autonomous control, Shared adaptive control, Threat assessment, Vehicle autonomy, Vehicle safety
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20753DOI: 10.1109/ICSMC.2009.5346330ISI: 000279574601046Scopus ID: 2-s2.0-74849100610ISBN: 978-1-4244-2793-2 OAI: oai:DiVA.org:hh-20753DiVA: diva2:586836
Conference
IEEE International Conference on Systems, Man and Cybernetics, OCT 11-14, 2009, San Antonio, TX
Available from: 2013-01-13 Created: 2013-01-12 Last updated: 2013-02-07Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
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More languages
Output format
  • html
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  • asciidoc
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