An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance Scenarios

被引：183
作者：
Anderson S.J. [1 ]
Peters S.C. [1 ]
Pilutti T.E. [2 ]
Iagnemma K. [1 ]
机构：
[1] Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
[2] Ford Research Laboratories, Dearborn
来源：
International Journal of Vehicle Autonomous Systems | 2010年 / 8卷 / 2-4期
关键词：
Active safety; Autonomous systems; Hazard avoidance; Human-in-the-loop; Lane keeping; Model predictive control; MPC; Semi-autonomous control; Shared-adaptive control; Threat assessment; Vehicle autonomy;
D O I：
10.1504/IJVAS.2010.035796
中图分类号：
学科分类号：
摘要：
This paper formulates the vehicle navigation task as a constrained optimal control problem with constraints bounding a traversable region of the environment. A model predictive controller iteratively plans an optimal vehicle trajectory through the constrained corridor and uses this trajectory to establish the minimum threat posed to the vehicle given its current state and driver inputs. Based on this threat assessment, the level of controller intervention required to prevent departure from the traversable corridor is calculated and driver/controller inputs are scaled accordingly. Simulated and experimental results are presented to demonstrate multiple threat metrics and configurable intervention laws. Copyright © 2010 Inderscience Enterprises Ltd.
引用
收藏
页码：190 / 216
页数：26
相关论文
共 47 条
  • [1] Ackermann J., Robust decoupling of car steering dynamics with arbitrary mass distribution, Proceedings of the 1994 American Control Conference. Part 2 (of 3), pp. 1964-1968, (1994)
  • [2] Alleyne A., A comparison of alternative obstacle avoidance strategies for vehicle control, Vehicle System Dynamics, 27, 5-6, pp. 371-392, (1997)
  • [3] Alleyne A., Comparison of alternative intervention strategies for unintended roadway departure (URD) control, Vehicle System Dynamics, 27, 3, pp. 157-186, (1997)
  • [4] Bemporad A., Morari M., Dua V., Pistikopoulos E., The explicit linear quadratic regulator for constrained systems, Automatica, 38, 1, pp. 3-20, (2002)
  • [5] Besselmann T., Morari M., Hybrid parameter-varying model predictive control for autonomous vehicle steering, European Journal of Control, 14, 5, pp. 418-431, (2008)
  • [6] Borrelli F., Falcone P., Keviczky T., Asgari J., Hrovat D., MPC-based approach to active steering for autonomous vehicle systems, International Journal of Vehicle Autonomous Systems, 3, 2-4, pp. 265-291, (2005)
  • [7] Brandt T., Sattel T., Bohm M., Combining haptic human-machine interaction with predictive path planning for lane-keeping and collision avoidance systems, 2007 IEEE Intelligent Vehicles Symposium, IV 2007, pp. 582-587, (2007)
  • [8] Calhoun P.C., Queen E.M., Entry vehicle control system design for the mars smart Lander, Presented at the AIAA Atmospheric Flight Mech. Conf., (2002)
  • [9] Camacho E.F., Bordons C., Model Predictive Control, (2004)
  • [10] Cremean L.B., Foote T.B., Gillula J.H., Hines G.H., Kogan D., Kriechbaum K., Lamb J., Leibs J., Lindzey L., Rasmussen C., Stewart A., Burdick J.W., Murray R.M., Alice: An information-rich autonomous vehicle for high-speed desert navigation, Journal Field Robotics, 23, 9, pp. 777-810, (2006)
12345