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Semi-Autonomous Avoidance of Moving Hazards for Passenger Vehicles

[+] Author Affiliations
Sterling J. Anderson, Steven C. Peters, Karl Iagnemma

Massachusetts Institute of Technology, Cambridge, MA

Tom E. Pilutti, H. Eric Tseng

Ford Motor Co., Dearborn, MI

Paper No. DSCC2010-4096, pp. 141-148; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 1
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4417-5 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


This paper presents a method for semi-autonomous hazard avoidance in the presence of unknown moving obstacles and unpredictable driver inputs. This method iteratively predicts the motion and anticipated intersection of the host vehicle with both static and dynamic hazards and excludes projected collision states from a traversable corridor. A model predictive controller iteratively replans a stability-optimal trajectory through the navigable region of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure safe hazard avoidance. The efficacy of this approach is demonstrated through both simulated and experimental results using a semi-autonomously controlled Jaguar S-Type.

Copyright © 2010 by ASME
Topics: Vehicles



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