Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios
Reads0
Chats0
TLDR
A new control structure is presented that integrates path tracking, vehicle stabilization, and collision avoidance and mediates among these sometimes conflicting objectives by prioritizing collision avoidance.Abstract:
Emergency scenarios may necessitate autonomous vehicle maneuvers up to their handling limits in order to avoid collisions. In these scenarios, vehicle stabilization becomes important to ensure that the vehicle does not lose control. However, stabilization actions may conflict with those necessary for collision avoidance, potentially leading to a collision. This paper presents a new control structure that integrates path tracking, vehicle stabilization, and collision avoidance and mediates among these sometimes conflicting objectives by prioritizing collision avoidance. It can even temporarily violate vehicle stabilization criteria if needed to avoid a collision. The framework is implemented using model predictive and feedback controllers. Incorporating tire nonlinearities into the model allows the controller to use all of the vehicle’s performance capability to meet the objectives. A prediction horizon comprised of variable length time steps integrates the different time scales associated with stabilization and collision avoidance. Experimental data from an autonomous vehicle demonstrate the controller safely driving at the vehicle’s handling limits and avoiding an obstacle suddenly introduced in the middle of a turn.read more
Citations
More filters
Journal ArticleDOI
Control of connected and automated vehicles: State of the art and future challenges
TL;DR: In this paper, the authors introduce a control and planning architecture for CAVs, and surveys the state of the art on each functional block therein; the main focus is on techniques to improve energy efficiency.
Journal ArticleDOI
Optimization-Based Collision Avoidance
TL;DR: A novel method for exactly reformulating nondifferentiable collision avoidance constraints into smooth, differentiable constraints using strong duality of convex optimization on a controlled object whose goal is to avoid obstacles while moving in an $n$ -dimensional space is presented.
Proceedings ArticleDOI
Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction
TL;DR: In this article, a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a critical role in decision making, is presented.
Journal ArticleDOI
Recent advances in connected and automated vehicles
TL;DR: A comprehensive review on five selected subjects that lie in the heart of CAV research, showing how they interact with each other and how they can be integrated into a seamless user experience.
Journal ArticleDOI
Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits
TL;DR: Simulation and experiment results show that the proposed control strategy can robustly track the reference path and at the same time maintains the yaw stability of vehicle at or near the physical limits of tyre friction.
References
More filters
Book
Tyre and vehicle dynamics
TL;DR: In this article, the wheel-shimmy phenomenon is considered in the context of dynamic tire testing and tire characteristics and vehicle handling and stability, and a variety of models are proposed.
Autonomous Driving in Urban Environments: Boss and the Urban Challenge.
Chris Urmson,Joshua Anhalt,Drew Bagnell,Christopher R. Baker,Robert Bittner,Michael Clark,John M. Dolan,D Duggins,Tugrul Galatali,Christopher Geyer,Michele Gittleman,Sam Harbaugh,Martial Hebert,Thomas M. Howard,Sascha Kolski,Alonzo Kelly,Maxim Likhachev,Matthew McNaughton,Nick Miller,Kevin Peterson,Brian Pilnick,Ragunathan Rajkumar,Paul E. Rybski,Bryan Salesky,Young-Woo Seo,Sanjiv Singh,Jarrod M. Snider,Anthony Stentz,William Whittaker,Ziv Wolkowicki,Jason Ziglar,Hong Bae,Thomas G. Brown,Daniel Demitrish,Bakhtiar Brian Litkouhi,Jim Nickolaou,Varsha Sadekar,Wende Zhang,Joshua Struble,Michael Taylor,Michael Darms,Dave Ferguson +41 more
TL;DR: This dissertation aims to provide a history of web exceptionalism from 1989 to 2002, a period chosen in order to explore its roots as well as specific cases up to and including the year in which descriptions of “Web 2.0” began to circulate.
Proceedings ArticleDOI
Towards fully autonomous driving: Systems and algorithms
Jesse Levinson,Jake Askeland,Jan Becker,Jennifer Dolson,David Held,Soeren Kammel,J. Zico Kolter,Dirk Langer,Oliver Pink,Vaughan R. Pratt,Michael Sokolsky,Ganymed Stanek,David Stavens,Alex Teichman,Moritz Werling,Sebastian Thrun +15 more
TL;DR: In order to achieve autonomous operation of a vehicle in urban situations with unpredictable traffic, several realtime systems must interoperate, including environment perception, localization, planning, and control.
Journal ArticleDOI
Predictive Active Steering Control for Autonomous Vehicle Systems
TL;DR: The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads, and two approaches with different computational complexities are presented.
Journal ArticleDOI
CVXGEN: a code generator for embedded convex optimization
Jacob Mattingley,Stephen Boyd +1 more
TL;DR: This paper describes how CVXGEN is implemented, and gives some results on the speed and reliability of the automatically generated solvers.