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• [P1267] A Unified Approach to Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios
  Author(s): Sterling J. Anderson, Steven C. Peters, Tom E. Pilutti, Karl D. Iagnemma
  
  

  Abstract
  This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based framework. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. A model predictive controller iteratively plans a best-case vehicle trajectory online as a constrained optimal control problem. The framework then uses this trajectory to assess the threat posed to the vehicle and intervenes in proportion to this threat. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a safe corridor of travel. Simulated results are presented here to demonstrate the framework's ability to incorporate multiple threat thresholds and configurable intervention laws while sharing control with a human driver.

  
   

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