Nondimensionalized Univariate Equation Characterizing Optimal State Feedback Control for Collision Avoidance

Singh, Amrik Singh Phuman; Nishihara, Osamu

doi:10.1109/tits.2017.2778091

Cited by 10 publications

(10 citation statements)

References 27 publications

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“…When planning vehicle maneuvers there is usually freedom to not only find a feasible path, but also to optimize the trajectory according to a criterion. In the context of critical collision avoidance, examples of such criteria are to perform minimum-time lane change [13], [15], [21], minimum-distance lane change [22], [23], minimum-distance collision avoidance [6], or collision avoidance while minimizing the overshoot in the new lane [14]. Here, considering the wary strategy to be applied by the controller in Section V, the trajectory is planned for the minimum possible friction considering collision avoidance of a single obstacle.…”

Section: Center-of-mass Acceleration Referencementioning

confidence: 99%

“…A common way to compare the strategies of straight-line braking and passing is to plot the relation between minimum passing distance and the velocity, with the friction coefficient µ and obstacle dimension B fixed [5], [21]. In [23], dimensionless variables are used to give a comparison plot that represents the full variation of parameters for minimum-distance lane-change maneuvers. The trade-off between straight-line braking and passing maneuvers is presented in Fig.…”

Section: ) Performance Comparisonmentioning

confidence: 99%

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Autonomous Wary Collision Avoidance

Fors

Olofsson

Nielsen

2021

IEEE Trans. Intell. Veh.

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Handling of critical situations is an important part in the architecture of an autonomous vehicle. A controller for autonomous collision avoidance is developed based on a wary strategy that assumes the least tire-road friction for which the maneuver is still feasible. Should the friction be greater, the controller makes use of this and performs better. The controller uses an acceleration-vector reference obtained from optimal control of a friction-limited particle, whose applicability is verified by using numerical optimization on a full vehicle model. By employing an analytical tire model of the tire-road friction limit, to determine slip references for steering and body-slip control, the result is a controller where the computation of its output is explicit and independent of the actual tire-road friction. When evaluated in real-time on a high-fidelity simulation model, the developed controller performs close to that achieved by offline numerical optimization.

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Section: Center-of-mass Acceleration Referencementioning

confidence: 99%

Section: ) Performance Comparisonmentioning

confidence: 99%

Autonomous Wary Collision Avoidance

Fors

Olofsson

Nielsen

2021

IEEE Trans. Intell. Veh.

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“…Other constraints than (2.10) on the accelerations can be used to model for example effects of load transfer and limited engine power [33]. An advantage of the friction-limited particle model is that for some scenarios there exist analytical solutions [34][35][36] and in other scenarios the solutions can be efficiently computed [37,38].…”

Section: Friction-limited Particle Modelmentioning

confidence: 99%

Autonomous Vehicle Maneuvering at the Limit of Friction

Fors

2020

Linköping Studies in Science and Technology. Dissertations

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“…Funke and Gerdes [18] showed that these acceleration limits could be used to choose an appropriate emergency lane change trajectory from a family of clothoid paths. Emergency lane changes were also studied by Singh and Nishihara [19] and Shiller and Sundar [20] who showed that combining braking and steering minimize the distance required to avoid an obstacle. The problem of minimizing the deviation from a circular reference path when the vehicle's speed is too high for the corner was addressed by Klomp et al using optimal control theory [21].…”

Section: A Related Workmentioning

confidence: 99%

From the Racetrack to the Road: Real-Time Trajectory Replanning for Autonomous Driving

Subosits

Gerdes

2019

IEEE Trans. Intell. Veh.

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In emergency situations, autonomous vehicles will be forced to operate at their friction limits in order to avoid collisions. In these scenarios, coordinating the planning of the vehicle's path and speed gives the vehicle the best chance of avoiding an obstacle. Fast reaction time is also important in an emergency, but approaches to the trajectory planning problem based on nonlinear optimization are computationally expensive. This paper presents a new scheme that simultaneously modifies the desired path and speed profile for a vehicle in response to the appearance of an obstacle, significant tracking error, or other environmental change. By formulating the trajectory optimization problem as a quadratically constrained quadratic program, solution times of less than 20 ms are possible even with a 10-s planning horizon. A simplified point mass model is used to describe the vehicle's motion, but the incorporation of longitudinal weight transfer and road topography means that the vehicle's acceleration limits are modeled more accurately than in comparable approaches. Experimental data from an autonomous vehicle in two scenarios demonstrate how the trajectory planner enables the vehicle to avoid an obstacle even when the obstacle appears suddenly and the vehicle is already operating near the friction limits.

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Nondimensionalized Univariate Equation Characterizing Optimal State Feedback Control for Collision Avoidance

Cited by 10 publications

References 27 publications

Autonomous Wary Collision Avoidance

Autonomous Wary Collision Avoidance

Autonomous Vehicle Maneuvering at the Limit of Friction

From the Racetrack to the Road: Real-Time Trajectory Replanning for Autonomous Driving

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