Intervention minimized semi-Autonomous control using decoupled model predictive control
- Authors
- Kim, Hayoung; Cho, Jeongmin; Kim, Dongchan; Huh, Kunsoo
- Issue Date
- Jul-2017
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- 2017 IEEE Intelligent Vehicles Symposium (IV), pp.618 - 623
- Indexed
- SCOPUS
- Journal Title
- 2017 IEEE Intelligent Vehicles Symposium (IV)
- Start Page
- 618
- End Page
- 623
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/4773
- DOI
- 10.1109/IVS.2017.7995787
- 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.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.