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Experimental Valida...
Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments
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- Batkovic, Ivo, 1992 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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Gupta, Ankit (författare)
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- Zanon, Mario, 1985 (författare)
- Scuola IMT - Istituzioni, Mercati, Tecnologie - Alti Studi di Lucca,IMT School for Advanced Studies
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2023
- 2023
- Engelska.
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Ingår i: IEEE Transactions on Control Systems Technology. - 1063-6536 .- 1558-0865. ; 31:5, s. 2027-2042
- Relaterad länk:
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- 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)
Nyckelord
- Roads
- Trajectory
- Safety
- Autonomous vehicles
- uncertain constraints
- Predictive models
- Behavioral sciences
- recursive feasibility
- nonlinear predictive control
- safety
- Autonomous driving
- Planning
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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