Autonomous vehicle controlled by safety path planner with collision risk estimation coupled with a non-linear MPC

S. Arrigoni, F. Cheli, S. S. Manazza, P. Gottardis, R. Happee, M. Arat, D. Kotiadis

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)

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 languageEnglish
Title of host publicationThe Dynamics of Vehicles on Roads and Tracks
Subtitle of host publicationProceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015)
EditorsMartin Rosenberger, Manfred Plöchl, Klaus Six, Johannes Edelmann
Place of PublicationLeiden, The Netherlands
PublisherCRC Press / Balkema - Taylor & Francis Group
Pages199-208
ISBN (Print)978-1-13802885-2
Publication statusPublished - 2015
Event24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015 - Graz, Austria
Duration: 17 Aug 201521 Aug 2015

Conference

Conference24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015
CountryAustria
CityGraz
Period17/08/1521/08/15

Keywords

  • Autonomous vehicle
  • Collision risk estimation
  • MPC algorithm
  • Obstacle avoidance
  • Safety path planner

Fingerprint

Dive into the research topics of 'Autonomous vehicle controlled by safety path planner with collision risk estimation coupled with a non-linear MPC'. Together they form a unique fingerprint.

Cite this