TY - GEN
T1 - Stochastic model predictive controller with chance constraints for comfortable and safe driving behavior of autonomous vehicles
AU - Lenz, David
AU - Kessler, Tobias
AU - Knoll, Alois
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/26
Y1 - 2015/8/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84951073742&partnerID=8YFLogxK
U2 - 10.1109/IVS.2015.7225701
DO - 10.1109/IVS.2015.7225701
M3 - Conference contribution
AN - SCOPUS:84951073742
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 292
EP - 297
BT - IV 2015 - 2015 IEEE Intelligent Vehicles Symposium
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Intelligent Vehicles Symposium, IV 2015
Y2 - 28 June 2015 through 1 July 2015
ER -