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  • Anderson, S., et al. (author)
  • Semi-autonomous Avoidance of Moving Hazards for Passenger Vehicles
  • 2010
  • In: Proceedings of the ASME Dynamic Systems and Control Conference--2010. - New York : ASME Press. - 9780791844175 ; , s. 141-148
  • Conference paper (peer-reviewed)abstract
    • 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.
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  • Result 1-1 of 1
Type of publication
conference paper (1)
Type of content
peer-reviewed (1)
Author/Editor
Anderson, S (1)
Tseng, E (1)
Iagnemma, Karl (1)
Peters, S. (1)
Pilutti, T. (1)
University
Halmstad University (1)
Language
English (1)
Research subject (UKÄ/SCB)
Engineering and Technology (1)
Year
2010 (1)

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