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Experimental Valida...
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Batkovic, Ivo,1992Chalmers tekniska högskola,Chalmers University of Technology
(författare)
Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments
- Artikel/kapitelEngelska2023
Förlag, utgivningsår, omfång ...
Nummerbeteckningar
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LIBRIS-ID:oai:research.chalmers.se:1cac644d-a44e-4ea2-8edf-3a458fcc1188
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https://doi.org/10.1109/TCST.2023.3291562DOI
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https://research.chalmers.se/publication/536925URI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:art swepub-publicationtype
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Ämneskategori:ref swepub-contenttype
Anmärkningar
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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 och genrebeteckningar
Biuppslag (personer, institutioner, konferenser, titlar ...)
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Gupta, Ankit
(författare)
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Zanon, Mario,1985Scuola IMT - Istituzioni, Mercati, Tecnologie - Alti Studi di Lucca,IMT School for Advanced Studies(Swepub:cth)zmario
(författare)
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Falcone, Paolo,1977Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)falcone
(författare)
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Chalmers tekniska högskolaScuola IMT - Istituzioni, Mercati, Tecnologie - Alti Studi di Lucca
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:IEEE Transactions on Control Systems Technology31:5, s. 2027-20421063-65361558-0865
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