This paper presents a multi-objective safety system that is capable of avoiding unintended collisions with stationary and moving road obstacles, vehicle control loss as well as unintended roadway departures. The safety system intervenes only when there is an imminent safety risk while full control is left to the driver otherwise. The problems of assessing wether an intervention is required as well as controlling the vehicle motion in case an intervention is needed are jointly formulated as a single optimization problem, that is repeatedly solved in receding horizon. The novelty of the formulation lies in the ability of simultaneously avoiding moving obstacles while assessing the necessity thereof. The versatility of the proposed formulation is demonstrated through simulations showing its ability of avoiding a wide range of accident scenarios.
- Dynamic Systems and Control Division
Multi-Objective Collision Avoidance
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Ali, M, Gray, A, Gao, Y, Hedrick, JK, & Borrelli, F. "Multi-Objective Collision Avoidance." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control. Palo Alto, California, USA. October 21–23, 2013. V003T47A004. ASME. https://doi.org/10.1115/DSCC2013-3951
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