Parallel autonomy in automated vehicles

Parallel autonomy in automated vehicles: Safe motion generation with minimal intervention

Schwarting, Wilko (Massachusetts Institute of Technology)
Alonso Mora, J. (TU Delft Learning & Autonomous Control)
Pauli, Liam (Massachusetts Institute of Technology)
Karaman, Sertac (Massachusetts Institute of Technology)
Rus, Daniela (Massachusetts Institute of Technology)

Chen, I-Ming (editor)
Nakamura, Yoshihiko (editor)

2017

Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane following, are still only able to help in relatively simple driving situations. We introduce a Parallel Autonomy shared-control framework that produces safe trajectories based on human inputs even in much more complex driving scenarios, such as those commonly encountered in an urban setting. We minimize the deviation from the human inputs while ensuring safety via a set of collision avoidance constraints. We develop a receding horizon planner formulated as a Non-linear Model Predictive Control (NMPC) including analytic descriptions of road boundaries, and the configurations and future uncertainties of other traffic participants, and directly supplying them to the optimizer without linearization. The NMPC operates over both steering and acceleration simultaneously. Furthermore, the proposed receding horizon planner also applies to fully autonomous vehicles. We validate the proposed approach through simulations in a wide variety of complex driving scenarios such as left-turns across traffic, passing on busy streets, and under dynamic constraints in sharp turns on a race track.

Vehicles
Roads
Optimization
Safety
Acceleration
Trajectory
Uncertainty

http://resolver.tudelft.nl/uuid:1b9f5841-7e60-4d45-a430-08a2924fcd75

https://doi.org/10.1109/ICRA.2017.7989224

IEEE, Piscataway, NJ, USA

978-1-5090-4633-1

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2017)

2017 IEEE International Conference on Robotics and Automation, ICRA 2017, 2017-05-29 → 2017-06-03, Singapore, Singapore

Accepted Author Manuscript

Institutional Repository

conference paper

© 2017 Wilko Schwarting, J. Alonso Mora, Liam Pauli, Sertac Karaman, Daniela Rus