Abstract
In recent years, as image processing and control technology have been studied extensively, autonomous vehicle becomes an active research area. For autonomous driving, it is essential to generate a safe obstacle avoidance path considering the surrounding environments. In this paper, an algorithm based on real-time output constraints model predictive control (RCMPC) is devised for obstacle avoidance path planning in the high-speed driving situations. Four simulations were conducted to compare with the normal model predictive control (NMPC) algorithm. The MPC computation times were also compared to verify robustness of the algorithm in the high-speed driving situations. The ISO 2631-1 comfort level standard was used to quantify driver’s comfort and to compare with the results. The results of the RCMPC resulted in faster computation times than that of the NMPC and showed a high comfort level scores.
| Original language | English |
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| Title of host publication | International Conference on Control, Automation and Systems |
| Publisher | IEEE Computer Society |
| Pages | 141-143 |
| Number of pages | 3 |
| Volume | 2018-October |
| ISBN (Electronic) | 9788993215151 |
| Publication status | Published - 2018 Dec 10 |
| Event | 18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of Duration: 2018 Oct 17 → 2018 Oct 20 |
Other
| Other | 18th International Conference on Control, Automation and Systems, ICCAS 2018 |
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| Country/Territory | Korea, Republic of |
| City | PyeongChang |
| Period | 18/10/17 → 18/10/20 |
Keywords
- Comfort Level
- Model Predictive Control
- Obstacle Avoidance
- Path Planning
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering