On Maximizing Lateral Clearance of an Autonomous Vehicle in Urban Environments

by   Francesco Seccamonte, et al.

We consider the problem of maximizing distance to road agents for a self-driving car. To this extent, we employ a Model Predictive Control (MPC) approach for the steering tracking control of an Autonomous Vehicle (AV). Specifically, we first present a traditional MPC controller, which is then extended to encode the clearance maximization goal by manipulating its cost function and constraints. We provide insights on the additional information needed to achieve such goal, and how this modifies the structure of the original controller. Furthermore, a connection between commonly used safety metrics and clearance to road users is established. We implement the MPC controller using two off-the-shelf numerical solvers, assessing its computational feasibility. Finally, we show experimental results of the proposed approach on public roads in Boston and in Singapore.


An Automatic Tuning MPC with Application to Ecological Cruise Control

Model predictive control (MPC) is a powerful tool for planning and contr...

Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication

We present the design of a safe Adaptive Cruise Control (ACC) which uses...

Implementation of a self-developed model predictive control scheme for vehicle parking maneuvers

In this paper a self-developed controller algorithm is presented with th...

Active Safety System for Semi-Autonomous Teleoperated Vehicles

Autonomous cars can reduce road traffic accidents and provide a safer mo...

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

In this paper we consider the problem of allowing a humanoid robot that ...

Robust Model Predictive Longitudinal Position Tracking Control for an Autonomous Vehicle Based on Multiple Models

The aim of this work is to control the longitudinal position of an auton...

Outracing Human Racers with Model-based Autonomous Racing

Autonomous racing has become a popular sub-topic of autonomous driving i...

Please sign up or login with your details

Forgot password? Click here to reset