A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios

A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios

This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-pl...

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Bibliographic Details
Main Authors: Iagnemma, Karl, Peters, Steven Conrad, Anderson, Sterling J., Pilutti, Tom E.
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers 2010
Subjects:
MPC
Semi-autonomous control
Active safety
Hazard avoidance
Human-machine interaction
Lane keeping
Mobile robotics
Model predictive control
Shared adaptive control
Threat assessment
Vehicle autonomy
Vehicle safety
Online Access:http://hdl.handle.net/1721.1/58809

Internet

http://hdl.handle.net/1721.1/58809

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