Two frameworks based on Model Predictive Control (MPC) for obstacle avoidance with autonomous vehicles are presented. A given trajectory represents the driver intent. An MPC has to safely avoid obstacles on the road while trying to track the desired trajectory by controlling front steering angle and differential braking. We present two different approaches to this problem. The first approach solves a single nonlinear MPC problem. The second approach uses a hierarchical scheme. At the high-level, a trajectory is computed on-line, in a receding horizon fashion, based on a simplified point-mass vehicle model in order to avoid an obstacle. At the low-level an MPC controller computes the vehicle inputs in order to best follow the high level trajectory based on a nonlinear vehicle model. This article presents the design and comparison of both approaches, the method for implementing them, and successful experimental results on icy roads.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4417-5
PROCEEDINGS PAPER
Predictive Control of Autonomous Ground Vehicles With Obstacle Avoidance on Slippery Roads Available to Purchase
Yiqi Gao,
Yiqi Gao
University of California, Berkeley, Berkeley, CA
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Theresa Lin,
Theresa Lin
University of California, Berkeley, Berkeley, CA
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Francesco Borrelli,
Francesco Borrelli
University of California, Berkeley, Berkeley, CA
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Davor Hrovat
Davor Hrovat
Ford Motor Company, Dearborn, MI
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Yiqi Gao
University of California, Berkeley, Berkeley, CA
Theresa Lin
University of California, Berkeley, Berkeley, CA
Francesco Borrelli
University of California, Berkeley, Berkeley, CA
Eric Tseng
Ford Motor Company, Dearborn, MI
Davor Hrovat
Ford Motor Company, Dearborn, MI
Paper No:
DSCC2010-4263, pp. 265-272; 8 pages
Published Online:
January 25, 2011
Citation
Gao, Y, Lin, T, Borrelli, F, Tseng, E, & Hrovat, D. "Predictive Control of Autonomous Ground Vehicles With Obstacle Avoidance on Slippery Roads." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 265-272. ASME. https://doi.org/10.1115/DSCC2010-4263
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