A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios
Name
Anderson-2009-A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios.pdf
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251.33 KB
Format
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Author(s)
Iagnemma, Karl
Peters, Steven Conrad
Anderson, Sterling J.
Pilutti, Tom E.
Date Issued
October 2009
Journal
IEEE International Conference on Systems, Man and Cybernetics
Publisher
Institute of Electrical and Electronics Engineers
Citation
Anderson, S.J. et al. “A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios.” Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on. 2009. 2032-2037. © 2009, IEEE
Version
Final published version
Abstract
This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. The vehicle navigation problem is formulated as a constrained optimal control problem with constraints bounding a navigable region of the road surface. A model predictive controller iteratively plans the best-case vehicle trajectory through this constrained corridor. The framework then uses this trajectory to assess the threat posed to the vehicle and intervenes in proportion to this threat. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a navigable corridor of travel. Simulated results are presented here to demonstrate the framework's ability to incorporate multiple threat thresholds and configurable intervention laws while sharing control with a human driver.
Subjects
MPC
Semi-autonomous control
Active safety
Hazard avoidance
Human-machine interaction
Lane keeping
Mobile robotics
Model predictive control
Shared adaptive control
Threat assessment
Vehicle autonomy
Vehicle safety
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICSMC.2009.5346330
