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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios


    Contributors:


    Publication date :

    2009


    Size :

    6 Seiten, 19 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English