A robust control design is proposed for the lane-keeping and obstacle avoidance of semiautonomous ground vehicles. A robust Model Predictive Controller (MPC) is used in order to enforce safety constraints with minimal control intervention. An uncertain driver model is used to obtain sets of predicted vehicle trajectories in closed-loop with the predicted driver's behavior. The robust MPC computes the smallest corrective steering action needed to keep the driver safe for all predicted trajectories in the set. Simulations of a driver approaching multiple obstacles, with uncertainty obtained from measured data, show the effect of the proposed framework.


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    Title :

    Robust Predictive Control for semi-autonomous vehicles with an uncertain driver model


    Contributors:


    Publication date :

    2013-06-01


    Size :

    305246 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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