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Manoeuvre generation and control for automated highway driving

Julia Nilsson (Institutionen för signaler och system, Mekatronik) ; Y. Gao ; A. Carvalho ; F. Borrelli
19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24-29 August 2014 (1474-6670). Vol. 19 (2014), p. 6301-6306.
[Konferensbidrag, refereegranskat]

A hierarchical, two-level architecture for manoeuvre generation and vehicle control for automated highway driving is presented. The high-level planner computes a manoeuvre in terms of a (X, Y)-trajectory as well as a longitudinal velocity profile, utilizing a simplified point-mass model and linear collision avoidance constraints. The low-level controller utilizes a non-linear vehicle model in order to compute the vehicle control inputs required to execute the planned manoeuvre. Both the high-level planner and low-level controller are formulated based on the model predictive control methodology. Simulation results demonstrates the ability of the high-level planner to compute appropriate, traffic-dependent manoeuvres, that can be tracked by the low-level controller in real-time.

Denna post skapades 2015-06-16. Senast ändrad 2016-05-24.
CPL Pubid: 218394


Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)



Chalmers infrastruktur