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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.
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2010 (English)In: 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, p. 141-148Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
New York: ASME Press, 2010. p. 141-148
Keywords [en]
Hazard avoidance, Model predictive controllers, Passenger vehicles, Semi-autonomous control, Static and dynamic, Unknown moving obstacles
National Category
Robotics
Identifiers
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
Conference
ASME 2010 Dynamic Systems and Control Conference, DSCC2010, Cambridge, MA, USA, 12-15 September, 2010
Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf