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Predictive Force-Centric Emergency Collision Avoidance

Fors, Victor ; Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars (2021) In Journal of Dynamic Systems, Measurement, and Control, ASME 143(8). p.081005-081005
Abstract
A controller for critical vehicle maneuvering is proposed that avoids obstacles and keeps the vehicle on the road while achieving heavy braking. It operates at the limit of friction and is structured in two main steps: a motion-planning step based on receding-horizon planning to obtain acceleration-vector references, and a low-level controller for following these acceleration references and transforming them into actuator commands. The controller is evaluated in a number of challenging scenarios and results in a well behaved vehicle with respect to, e.g., the steering angle, the body slip, and the path. It is also demonstrated that the controller successfully balances braking and avoidance such that it really takes advantage of the braking... (More)
A controller for critical vehicle maneuvering is proposed that avoids obstacles and keeps the vehicle on the road while achieving heavy braking. It operates at the limit of friction and is structured in two main steps: a motion-planning step based on receding-horizon planning to obtain acceleration-vector references, and a low-level controller for following these acceleration references and transforming them into actuator commands. The controller is evaluated in a number of challenging scenarios and results in a well behaved vehicle with respect to, e.g., the steering angle, the body slip, and the path. It is also demonstrated that the controller successfully balances braking and avoidance such that it really takes advantage of the braking possibilities. Specifically, for a moving obstacle, it makes use of a widening gap to perform more braking, which is a clear advantage of the online replanning capability if the obstacle should be a moving human or animal. Finally, real-time capabilities are demonstrated. In conclusion, the controller performs well, both from a functional perspective and from a real-time perspective. (Less)
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author
; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Journal of Dynamic Systems, Measurement, and Control, ASME
volume
143
issue
8
article number
DS-20-1471
pages
12 pages
publisher
American Society Of Mechanical Engineers (ASME)
external identifiers
  • scopus:85107661660
ISSN
0022-0434
DOI
10.1115/1.4050403
project
ELLIIT LU P11: Online Optimization and Control towards Autonomous Vehicle Maneuvering
language
English
LU publication?
yes
id
fe4254a0-adb1-408e-9c8a-e78f245ec66a
date added to LUP
2021-05-06 21:07:11
date last changed
2022-05-05 01:22:14
@article{fe4254a0-adb1-408e-9c8a-e78f245ec66a,
  abstract     = {{A controller for critical vehicle maneuvering is proposed that avoids obstacles and keeps the vehicle on the road while achieving heavy braking. It operates at the limit of friction and is structured in two main steps: a motion-planning step based on receding-horizon planning to obtain acceleration-vector references, and a low-level controller for following these acceleration references and transforming them into actuator commands. The controller is evaluated in a number of challenging scenarios and results in a well behaved vehicle with respect to, e.g., the steering angle, the body slip, and the path. It is also demonstrated that the controller successfully balances braking and avoidance such that it really takes advantage of the braking possibilities. Specifically, for a moving obstacle, it makes use of a widening gap to perform more braking, which is a clear advantage of the online replanning capability if the obstacle should be a moving human or animal. Finally, real-time capabilities are demonstrated. In conclusion, the controller performs well, both from a functional perspective and from a real-time perspective.}},
  author       = {{Fors, Victor and Anistratov, Pavel and Olofsson, Björn and Nielsen, Lars}},
  issn         = {{0022-0434}},
  language     = {{eng}},
  month        = {{08}},
  number       = {{8}},
  pages        = {{081005--081005}},
  publisher    = {{American Society Of Mechanical Engineers (ASME)}},
  series       = {{Journal of Dynamic Systems, Measurement, and Control, ASME}},
  title        = {{Predictive Force-Centric Emergency Collision Avoidance}},
  url          = {{http://dx.doi.org/10.1115/1.4050403}},
  doi          = {{10.1115/1.4050403}},
  volume       = {{143}},
  year         = {{2021}},
}