Safe driving envelopes for path tracking in autonomous vehicles
TL;DR: In this paper, an alternative control framework that integrates local path planning and path tracking using model predictive control (MPC) is presented. But the controller is not designed for autonomous vehicles.
About: This article is published in Control Engineering Practice.The article was published on 2017-04-01. It has received 259 citations till now. The article focuses on the topics: Obstacle avoidance & Control theory.
Citations
More filters
TL;DR: A detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espirito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA), is presented.
Abstract: We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espirito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media.
543 citations
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.
363 citations
TL;DR: 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.
317 citations
Cites background from "Safe driving envelopes for path tra..."
...’s [14] subsequent path tracking controller with an autonomous trajectory tracking controller that follows desired speeds while deviating from desired paths to best meet collision avoidance and stabilization criteria....
[...]
...This is a reasonable choice when assuming constant speed, as is done in [13] and [14]; however, when incorporating the changes in speed, the derivative of β intro-...
[...]
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Abstract: Autonomous vehicle (AV) technology can provide a safe and convenient transportation solution for the public, but the complex and various environments in the real world make it difficult to operate safely and reliably. A connected autonomous vehicle (CAV) is an AV with vehicle connectivity capability, which enhances the situational awareness of the AV and enables the cooperation between AVs. Hence, CAV technology can enhance the capabilities and robustness of AV to be a promising transportation solution in the future. This paper introduces a representative architecture of CAVs and surveys the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAVs. It reviews the state-of-the-art and state-of-the-practice (when applicable) of a multi-layer Perception-Planning-Control architecture including on-board sensors and vehicular communications, the methods of sensor fusion and localization and mapping in the perception layer, the algorithms of decision making and trajectory planning in the planning layer, and the control strategies of trajectory tracking in the control layer. Furthermore, the implementations and impact of vehicle connectivity and the corresponding consequential challenges of cooperative perception, complex connected decision making, and multi-vehicle controls are summarized and their significant research issues enumerated. Most importantly, the critical review in this paper provides a list and discussion of the remaining challenges and unsolved problems of CAVs in each Section which would be helpful to researchers in the field. The comprehensive coverage of this paper makes it particularly useful to academic researchers, practitioners, and students alike.
161 citations
Cites background from "Safe driving envelopes for path tra..."
...designed to perform path tracking in [430], [440], [487], [490] presents an MPC path-tracking controller with a linear kine-...
[...]
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.
156 citations
References
More filters
Book•
01 Jan 1980
TL;DR: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems and thoroughly integrates MATLAB statements and problems to offer readers a complete design picture.
Abstract: From the Publisher:
This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude Both classical and modern control methods are described and applied to illustrative examples The strengths and limitations of each method are explored to help the reader develop solid designs with the least effort Two new chapters have been added to the third edition offering a review of feedback control systems and an overview of digital control systems Updated to be fully compatible with MATLAB versions 4 and 5, the text thoroughly integrates MATLAB statements and problems to offer readers a complete design picture The new edition contains up-to-date material on state-space design and twice as many end-of-chapter problems to give students more opportunities to practice the material
3,756 citations
"Safe driving envelopes for path tra..." refers background in this paper
...More background on the first-order hold, or triangle hold, can be found in [19]....
[...]
Book•
01 Jan 2002
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.
Abstract: Tyre characteristics and vehicle handling and stability Basic tyre modelling considerations Theory of steady-state slip force and moment generation Semi-empirical steady-state tyre models Non-steady-state out-of-plane string-based tyre model Theory of the wheel-shimmy phenomenon Single contact point transient tyre models Applications of transient tyre models Short wavelength intermediate frequency tyre model Dynamic Tyre Model Performance Motorcycle dynamics Steady state and dynamic tyre testing References Appendix List of symbols Index
2,753 citations
TL;DR: The robot Stanley, which won the 2005 DARPA Grand Challenge, was developed for high‐speed desert driving without manual intervention and relied predominately on state‐of‐the‐art artificial intelligence technologies, such as machine learning and probabilistic reasoning.
Abstract: This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without human intervention. The robot’s software system relied predominately on state-of-the-art AI technologies, such as machine learning and probabilistic reasoning. This article describes the major components of this architecture, and discusses the results of the Grand Challenge race.
2,011 citations
"Safe driving envelopes for path tra..." refers background in this paper
...As long as the vehicle can feasibly follow the path, this paradigm works well [4][5]....
[...]
Book•
01 Dec 2005
TL;DR: Pacejka's model is the subject of continued development, particularly in extending its validity range to modelling higher frequencies and short wavelength obstacles and testing, which are covered in new chapters in the 2nd edition.
Abstract: This book, which is intended for practising and student engineers, provides a complete reference on the mechanical behaviour of pneumatic tyres and their impact on vehicle performance. The comprehensive scope of the book includes developing an understanding of mathematical models of tyre behaviour, the incorporation of these models into vehicle models, and presents an applied understanding of how the tyre influences vehicle handling. The book is supported by practical experimental observations and exercises. Pacejka's tyre model is the subject of continued development, particularly in extending its validity range to modelling higher frequencies and short wavelength obstacles and testing, which are covered in new chapters in the 2nd edition.
1,285 citations
TL;DR: This paper describes how CVXGEN is implemented, and gives some results on the speed and reliability of the automatically generated solvers.
Abstract: CVXGEN is a software tool that takes a high level description of a convex optimization problem family, and automatically generates custom C code that compiles into a reliable, high speed solver for the problem family. The current implementation targets problem families that can be transformed, using disciplined convex programming techniques, to convex quadratic programs of modest size. CVXGEN generates simple, flat, library-free code suitable for embedding in real-time applications. The generated code is almost branch free, and so has highly predictable run-time behavior. The combination of regularization (both static and dynamic) and iterative refinement in the search direction computation yields reliable performance, even with poor quality data. In this paper we describe how CVXGEN is implemented, and give some results on the speed and reliability of the automatically generated solvers.
836 citations
"Safe driving envelopes for path tra..." refers background in this paper
...CVXGEN, developed by Mattingley and Boyd [20], generates a solver that is implemented on a single core of an i7 processor....
[...]