Search: onr:"swepub:oai:research.chalmers.se:1cac644d-a44e-4ea2-8edf-3a458fcc1188" >
Experimental Valida...
Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments
-
- Batkovic, Ivo, 1992 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
-
Gupta, Ankit (author)
-
- Zanon, Mario, 1985 (author)
- Scuola IMT - Istituzioni, Mercati, Tecnologie - Alti Studi di Lucca,IMT School for Advanced Studies
-
show more...
-
- Falcone, Paolo, 1977 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
-
show less...
-
(creator_code:org_t)
- 2023
- 2023
- English.
-
In: IEEE Transactions on Control Systems Technology. - 1063-6536 .- 1558-0865. ; 31:5, s. 2027-2042
- Related links:
-
https://doi.org/10.1...
-
show more...
-
https://research.cha...
-
show less...
Abstract
Subject headings
Close
- The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle can be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In this article, we propose a framework based on model predictive control (MPC) that endows the self-driving vehicle with the necessary safety guarantees. In particular, our framework ensures constraint satisfaction at all times while tracking the reference trajectory as close as obstacles allow, resulting in a safe and comfortable driving behavior. To discuss the performance and real-time capability of our framework, we provide first an illustrative simulation example, and then, we demonstrate the effectiveness of our framework in experiments with a real test vehicle.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Programvaruteknik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Software Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Roads
- Trajectory
- Safety
- Autonomous vehicles
- uncertain constraints
- Predictive models
- Behavioral sciences
- recursive feasibility
- nonlinear predictive control
- safety
- Autonomous driving
- Planning
Publication and Content Type
- art (subject category)
- ref (subject category)
Find in a library
To the university's database