Parallel autonomy in automated vehicles: Safe motion generation with minimal intervention

Wilko Schwarting, Javier Alonso-Mora, Liam Pauli, Sertac Karaman, Daniela Rus

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

52 Citations (Scopus)
198 Downloads (Pure)


Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane following, are still only able to help in relatively simple driving situations. We introduce a Parallel Autonomy shared-control framework that produces safe trajectories based on human inputs even in much more complex driving scenarios, such as those commonly encountered in an urban setting. We minimize the deviation from the human inputs while ensuring safety via a set of collision avoidance constraints. We develop a receding horizon planner formulated as a Non-linear Model Predictive Control (NMPC) including analytic descriptions of road boundaries, and the configurations and future uncertainties of other traffic participants, and directly supplying them to the optimizer without linearization. The NMPC operates over both steering and acceleration simultaneously. Furthermore, the proposed receding horizon planner also applies to fully autonomous vehicles. We validate the proposed approach through simulations in a wide variety of complex driving scenarios such as left-turns across traffic, passing on busy streets, and under dynamic constraints in sharp turns on a race track.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation (ICRA 2017)
EditorsI-Ming Chen, Yoshihiko Nakamura
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-5090-4633-1
Publication statusPublished - 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017


Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated titleICRA 2017
Internet address

Bibliographical note

Accepted Author Manuscript


  • Vehicles
  • Roads
  • Optimization
  • Safety
  • Acceleration
  • Trajectory
  • Uncertainty


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