Journal ArticleDOI
Safe Driving Envelopes for Shared Control of Ground Vehicles
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TLDR
In this article, a control framework for obstacle avoidance and stability control using safe driving envelopes is presented, where one envelope is defined by the vehicle handling limits and the other is based on spatial limitations imposed by the environment.Citations
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Journal ArticleDOI
Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios
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.
Journal ArticleDOI
Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability
TL;DR: A shared control framework for obstacle avoidance and stability control using two safe driving envelopes is presented using a model predictive control scheme and is validated on an experimental vehicle working with human drivers to negotiate obstacles in a low friction environment.
Journal ArticleDOI
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.
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.
Book ChapterDOI
Implementable Ethics for Autonomous Vehicles
TL;DR: As agents moving through an environment that includes a range of other road users – from pedestrians and cyclists to other human or automated drivers – automated vehicles continuously interact with the humans around them.
References
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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.
Journal ArticleDOI
Model Predictive Control for Vehicle Stabilization at the Limits of Handling
Craig E. Beal,J.C. Gerdes +1 more
TL;DR: This paper presents an approach to vehicle stabilization that leverages estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space.
Journal ArticleDOI
Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation
TL;DR: In this paper, a Model Predictive Control (MPC) approach for controlling an active front steering (AFS) system in an autonomous vehicle is presented, where at each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to best follow the desired trajectory on slippery roads at the highest possible entry speed.
Proceedings ArticleDOI
Predictive Control of Autonomous Ground Vehicles With Obstacle Avoidance on Slippery Roads
TL;DR: In this paper, two different approaches based on Model Predictive Control (MPC) for obstacle avoidance with autonomous vehicles are presented, one solving a single nonlinear MPC problem and the second using a hierarchical scheme.
Journal ArticleDOI
Estimation of Tire Slip Angle and Friction Limits Using Steering Torque
TL;DR: A model-based estimation method that utilizes pneumatic trail information in steering torque to identify a vehicle's lateral handling limits, which are defined by the tire slip angle and peak lateral force limits is presented.
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