Reference Tracking Optimization With Obstacle Avoidance via Task Prioritization for Automated Driving

Thumbnail Image

Access rights

openAccess
publishedVersion

URL

Journal Title

Journal ISSN

Volume Title

A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)

Authors

Date

2024-02

Department

Department of Built Environment

Major/Subject

Mcode

Degree programme

Language

en

Pages

15

Series

IEEE Transactions on Intelligent Transportation Systems, Volume 25, issue 2, pp. 1200-1214

Abstract

Obstacle avoidance is a fundamental operation for automated driving and its formulation traditionally originates from robotics and decision making control fields. Given the high complexity required to compute an obstacle-free trajectory, this operation is usually demanded to a lower frequency planning layer that provides then a trajectory reference to be followed by a higher frequency control layer. As a result, whenever replanning is needed (for example, due to a new detected obstacle), the control layer must wait for a new planned trajectory to be generated. In this paper, we propose a novel methodology to approach obstacle avoidance already in the control layer, which allows a prompter response. In particular, we show how obstacle avoidance and reference tracking can be integrated, thus with no need to switch among different controllers, based on a null-space based behavioral control approach, implemented in a (possibly nonlinear) model predictive control scheme. We demonstrate practical implementation of the proposed methodology employing two different vehicle dynamic models and in four different (urban and highway) scenarios. Furthermore, we provide a sensitivity analysis to understand how parameters choice affects the automated vehicle behavior.

Description

Publisher Copyright: Author

Keywords

automated driving, Behavioral sciences, Collision avoidance, mixed traffic, model predictive control, null-space based control, Obstacle avoidance, Planning, Safety, Task analysis, Trajectory, Vehicle dynamics

Other note

DOI

10.1109/TITS.2023.3312999

Citation

Vitale, F & Roncoli, C 2024, 'Reference Tracking Optimization With Obstacle Avoidance via Task Prioritization for Automated Driving', IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 2, pp. 1200-1214. https://doi.org/10.1109/TITS.2023.3312999

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-202403202877

Collections

[article-cris] Insinööritieteiden korkeakoulu / ENG