Name
Title | ||
|---|---|---|
Stochastic model predictive controller with chance constraints for comfortable and safe driving behavior of autonomous vehicles |
Abstract | ||
|---|---|---|
In this paper, we address the application of stochastic model predictive control with chance constraints to autonomous driving. We use a condensed formulation of a linearized vehicle model to setup a quadratic program with nonlinear chance constraints, which can be solved with off-the-shelf optimization algorithms. We further show how obstacle information in the path planning stage can be converted into a set of linear state constraints that can be directly used in the control algorithm. The resulting controller is potentially real-time capable and achieves a tradeoff between safety and comfort in its control behavior. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/IVS.2015.7225701 | 2015 IEEE Intelligent Vehicles Symposium (IV) |
Keywords | Field | DocType |
stochastic model predictive controller,chance constraint,driving behavior,autonomous vehicle,autonomous driving,condensed formulation,linearized vehicle model,quadratic program,off-the-shelf optimization algorithm,obstacle information,path planning stage,linear state constraint,control algorithm | Motion planning,Control algorithm,Obstacle,Control theory,Mathematical optimization,Nonlinear system,Control theory,Stochastic modelling,Optimization algorithm,Quadratic programming,Engineering | Conference |
ISSN | Citations | PageRank |
1931-0587 | 4 | 0.42 |
References | Authors | |
14 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| David Lenz | 1 | 7 | 1.83 |
| tobias kessler | 2 | 4 | 1.44 |
| Alois Knoll Knoll | 3 | 1700 | 271.32 |