Intervention minimized semi-Autonomous control using decoupled model predictive control
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Hayoung | - |
dc.contributor.author | Cho, Jeongmin | - |
dc.contributor.author | Kim, Dongchan | - |
dc.contributor.author | Huh, Kunsoo | - |
dc.date.accessioned | 2021-07-30T05:24:52Z | - |
dc.date.available | 2021-07-30T05:24:52Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2017-07 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/4773 | - |
dc.description.abstract | This paper proposes semi-Autonomous control that minimizes intervention considering drivers steering and braking intentions. The biggest challenge of this problem is how to fairly judge drivers intentions that appear differently in the lateral and longitudinal directions and how to minimize controller intervention. A decoupled model predictive control (MPC) and optimal intervention decision methods are proposed considering driver incompatibility. Several MPCs are designed first considering the fact that the driver can avoid obstacles either by braking or moving to the left or right lanes. The control input to avoid the collision is calculated for each MPC such that its intervention can be minimized reflecting the drivers intention. After driver incompatibility is formalized, the optimal input is selected to minimize the incompatibility among the paths that can avoid accidents. The proposed algorithm is validated in simulations where collision can be avoided while minimizing the intervention. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Intervention minimized semi-Autonomous control using decoupled model predictive control | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Huh, Kunsoo | - |
dc.identifier.doi | 10.1109/IVS.2017.7995787 | - |
dc.identifier.scopusid | 2-s2.0-85028041494 | - |
dc.identifier.bibliographicCitation | 2017 IEEE Intelligent Vehicles Symposium (IV), pp.618 - 623 | - |
dc.relation.isPartOf | 2017 IEEE Intelligent Vehicles Symposium (IV) | - |
dc.citation.title | 2017 IEEE Intelligent Vehicles Symposium (IV) | - |
dc.citation.startPage | 618 | - |
dc.citation.endPage | 623 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Intelligent vehicle highway systems | - |
dc.subject.keywordPlus | Model predictive control | - |
dc.subject.keywordPlus | Predictive control systems | - |
dc.subject.keywordPlus | Avoid obstacles | - |
dc.subject.keywordPlus | Control inputs | - |
dc.subject.keywordPlus | Decision method | - |
dc.subject.keywordPlus | Decoupled model | - |
dc.subject.keywordPlus | Longitudinal direction | - |
dc.subject.keywordPlus | Optimal intervention | - |
dc.subject.keywordPlus | Semi-autonomous control | - |
dc.subject.keywordPlus | Braking | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/7995787 | - |
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