Robust real-time optimal autonomous highway driving control system: Development and implementation
- Authors
- Lee, Seung-Hi; Son, Youngseop; Chung, Chung Choo
- Issue Date
- Aug-2014
- Publisher
- IFAC Secretariat
- Citation
- IFAC Proceedings Volumes (IFAC-PapersOnline), v.19, pp.10706 - 10712
- Indexed
- SCOPUS
- Journal Title
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- Volume
- 19
- Start Page
- 10706
- End Page
- 10712
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/144579
- DOI
- 10.3182/20140824-6-za-1003.01391
- ISSN
- 1474-6670
- Abstract
- This paper develops a systems approach for robust real-time optimal autonomous driving control system development. An autonomous vehicle control system framework is proposed to dissect an automotive system into some sub-systems in which physical systems and control softwares are communicating. To attain robustness, a robust on-road vehicle localization scheme is proposed applying multi sensor-data fusion with the results of multirate decentralized state estimation and the clothoidal road model constraint. Control block and control block topology are proposed to utilize block-wise perception of environment and vehicle localization and to produce a trajectory command via a virtual lane curve for longitudinal/lateral vehicle control. To attain real-time control optimality, we apply the multilevel approximate predictive control developed by the authors. Performance of the proposed autonomous driving control system is demonstrated through some track test results.
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