Abstract
Research efforts in both academia and industry connected with the development and implementation of autonomous driving systems are increasing exponentially in last years. The project designed and presented is part of the so called Dutch Automated Vehicle Initiative (DAVI) which aims to investigate, improve and demonstrate automated driving on public roads. The work presented focuses on the path planning and following in highway environment, presenting a novel approach. A modular solution was designed, where the evaluation of risk is implemented in a path planner that select the optimal trajectory among a discrete set of feasible ones in term of comfort. The tracking is performed through a non linear model predictive controller (NMPC), that also consider collision-risk assessment information. In order to test critical situations that can commonly occur, several scenarios were designed and tested through extensive numerical simulations. Simulation results demonstrate that the proposed system is capable of dealing with complex driving situation, maintaining a human-like behavior.
Original language | English |
---|---|
Title of host publication | The Dynamics of Vehicles on Roads and Tracks |
Subtitle of host publication | Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015) |
Editors | Martin Rosenberger, Manfred Plöchl, Klaus Six, Johannes Edelmann |
Place of Publication | Leiden, The Netherlands |
Publisher | CRC Press / Balkema - Taylor & Francis Group |
Pages | 199-208 |
ISBN (Print) | 978-1-13802885-2 |
Publication status | Published - 2015 |
Event | 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015 - Graz, Austria Duration: 17 Aug 2015 → 21 Aug 2015 |
Conference
Conference | 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015 |
---|---|
Country/Territory | Austria |
City | Graz |
Period | 17/08/15 → 21/08/15 |
Keywords
- Autonomous vehicle
- Collision risk estimation
- MPC algorithm
- Obstacle avoidance
- Safety path planner