We consider the problem of maximizing distance to road agents for a self-driving car. To this extent, we employ a Model Predictive Control (MPC) approach for the steering tracking control of an Autonomous Vehicle (AV). Specifically, we first present a traditional MPC controller, which is then extended to encode the clearance maximization goal by manipulating its cost function and constraints. We provide insights on the additional information needed to achieve such goal, and how this modifies the structure of the original controller. Furthermore, a connection between commonly used safety metrics and clearance to road users is established. We implement the MPC controller using two off-the-shelf numerical solvers, assessing its computational feasibility. Finally, we show experimental results of the proposed approach on public roads in Boston and in Singapore.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    On Maximizing Lateral Clearance of an Autonomous Vehicle in Urban Environments


    Contributors:


    Publication date :

    2019-10-01


    Size :

    1025157 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Speed-dependent required lateral clearance for autonomous vehicle path planning

    RUSSELL JARED STEPHEN / PASKIN MARK | European Patent Office | 2024

    Free access

    SPEED-DEPENDENT REQUIRED LATERAL CLEARANCE FOR AUTONOMOUS VEHICLE PATH PLANNING

    RUSSELL JARED STEPHEN / PASKIN MARK | European Patent Office | 2019

    Free access

    SPEED-DEPENDENT REQUIRED LATERAL CLEARANCE FOR AUTONOMOUS VEHICLE PATH PLANNING

    RUSSELL JARED STEPHEN / PASKIN MARK | European Patent Office | 2020

    Free access

    Speed-dependent required lateral clearance for autonomous vehicle path planning

    RUSSELL JARED STEPHEN / PASKIN MARK | European Patent Office | 2020

    Free access

    Locating Autonomous Vehicle in Urban Environments

    Heng, Liang | British Library Conference Proceedings | 2016