Systematically comparing control approaches in the presence of actuator errors

Tobias Kessler, Pascal Minnerup, David Lenz, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A quantitative comparison of different approaches to control the trajectory of an autonomous vehicle can be achieved by measuring the overall performance of the whole system in closed loop. This work compares two trajectory generation and control approaches for autonomous driving in simulation. One approach is based on a low frequency check of geometric safety distances and a high frequency check of control deviations. The other approach minimizes the probability of colliding with obstacles by explicitly considering actuator uncertainties and solving a chance constraint optimization problem. The comparison is based on systematically applying actuator inaccuracies and searching for event combinations leading to collisions. We demonstrate that the control approach incorporating uncertainties performs better in one class of critical scenarios although its error model is different to the applied inaccuracies.

Original languageEnglish
Title of host publicationIV 2017 - 28th IEEE Intelligent Vehicles Symposium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages353-358
Number of pages6
ISBN (Electronic)9781509048045
DOIs
StatePublished - 28 Jul 2017
Event28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States
Duration: 11 Jun 201714 Jun 2017

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference28th IEEE Intelligent Vehicles Symposium, IV 2017
Country/TerritoryUnited States
CityRedondo Beach
Period11/06/1714/06/17

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