This paper considers an optimal path generation problem that generates a path of an automobile without any collision with obstacles. The problem is formulated as a mixed integer programming problem. In the problem the obstacles and environments around the automobile can be represent as inequality conditions. A feasible set called collision avoidable set (CAS) is considered to construct a driver assist control.
An automotive collision avoidance control based on a feasible set
2009
5 Seiten, 6 Quellen
Conference paper
English
Model Predictive Control for Feasible Region of Active Collision Avoidance
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