Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios

IF 4.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Leila Gharavi;Azita Dabiri;Jelske Verkuijlen;Bart De Schutter;Simone Baldi
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Abstract

Uncertainty in the behavior of other traffic participants is a crucial factor in collision avoidance for automated driving; here, stochastic metrics could avoid overly conservative decisions. This article introduces a stochastic model predictive control (SMPC) planner for emergency collision avoidance in highway scenarios to proactively minimize collision risk while ensuring safety through chance constraints. To guarantee that the emergency trajectory can be attained, we incorporate nonlinear tire dynamics in the prediction model of the ego vehicle. Further, we exploit max-min-plus-scaling (MMPS) approximations of the nonlinearities to avoid conservatism, enforce proactive collision avoidance, and improve computational efficiency in terms of performance and speed. Consequently, our contributions include integrating a dynamic ego vehicle model into the SMPC planner, introducing the MMPS approximation for real-time implementation in emergency scenarios, and integrating SMPC with hybridized chance constraints and risk minimization. We evaluate our SMPC formulation in terms of proactivity and efficiency in various hazardous scenarios. Moreover, we demonstrate the effectiveness of our proposed approach by comparing it with a state-of-the-art SMPC planner and we validate that the generated trajectories can be attained using a high-fidelity vehicle model in IPG CarMaker.
高速公路自动驾驶的主动紧急避碰
其他交通参与者行为的不确定性是自动驾驶避免碰撞的关键因素;在这里,随机指标可以避免过度保守的决策。本文介绍了一种基于随机模型预测控制(SMPC)的高速公路紧急避碰规划方法,通过机会约束来主动降低碰撞风险,同时保证安全。为了保证能够获得紧急轨迹,我们将非线性轮胎动力学引入到自我车辆的预测模型中。此外,我们利用非线性的max-min-plus scaling (MMPS)近似来避免保守性,强制主动避免碰撞,并在性能和速度方面提高计算效率。因此,我们的贡献包括将动态自我车辆模型集成到SMPC计划中,引入MMPS近似以在紧急情况下实时实施,以及将SMPC与混合机会约束和风险最小化相结合。我们根据在各种危险情况下的主动性和效率来评估我们的SMPC配方。此外,我们通过将所提出的方法与最先进的SMPC规划器进行比较,证明了该方法的有效性,并验证了生成的轨迹可以使用IPG汽车制造商的高保真车辆模型获得。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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