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Semi-autonomous Avo...
Semi-autonomous Avoidance of Moving Hazards for Passenger Vehicles
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- Anderson, S. (författare)
- MIT
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- Peters, S. (författare)
- MIT, USA
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- Pilutti, T. (författare)
- Ford Research Laboratories, Ford Motor Co., Dearborn, MI 48124, United States
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- Tseng, E. (författare)
- Ford Research Laboratories, Ford Motor Co., Dearborn, MI 48124, United States
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- Iagnemma, Karl (författare)
- MIT
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(creator_code:org_t)
- New York : ASME Press, 2010
- 2010
- Engelska.
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Ingår i: Proceedings of the ASME Dynamic Systems and Control Conference--2010. - New York : ASME Press. - 9780791844175 ; , s. 141-148
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents a method for semi-autonomous hazard avoidance in the presence of unknown moving obstacles and unpredictable driver inputs. This method iteratively predicts the motion and anticipated intersection of the host vehicle with both static and dynamic hazards and excludes projected collision states from a traversable corridor. A model predictive controller iteratively replans a stability-optimal trajectory through the navigable region of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure safe hazard avoidance. The efficacy of this approach is demonstrated through both simulated and experimental results using a semi-autonomously controlled Jaguar S-Type. Copyright © 2010 by ASME.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Hazard avoidance
- Model predictive controllers
- Passenger vehicles
- Semi-autonomous control
- Static and dynamic
- Unknown moving obstacles
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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