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Mode switching control using lane keeping assist and waypoints tracking for autonomous driving in a city environment
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Horri, Nadjim, Haas, Olivier, Wang, Sheng, Foo, Mathias and Fernandez, Manual Silverio (2021) Mode switching control using lane keeping assist and waypoints tracking for autonomous driving in a city environment. Transportation Research Record: Journal of the Transportation Research Board, 2676 (3). pp. 712-727. doi:10.1177/03611981211056636 ISSN 0361-1981.
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WRAP-Mode-switching-control-lane-keeping-assist-waypoints-tracking-2021.pdf - Accepted Version - Requires a PDF viewer. Download (1161Kb) | Preview |
Official URL: https://doi.org/10.1177/03611981211056636
Abstract
This paper proposes a mode switching supervisory controller for autonomous vehicles. The supervisory controller selects the most appropriate controller based on safety constraints and on the vehicle location with respect to junctions. Autonomous steering, throttle and deceleration control inputs are used to perform variable speed lane keeping assist, standard or emergency braking and to manage junctions, including roundabouts. Adaptive model predictive control with lane keeping assist is performed on the main roads and a linear pure pursuit inspired controller is applied using waypoints at road junctions where lane keeping assist sensors present a safety risk. A multi-stage rule based autonomous braking algorithm performs stop, restart and emergency braking maneuvers. The controllers are implemented in MATLAB® and Simulink™ and are demonstrated using the Automatic Driving Toolbox™ environment. Numerical simulations of autonomous driving scenarios demonstrate the efficiency of the lane keeping assist mode on roads with curvature and the ability to accurately track waypoints at cross intersections and roundabouts using a simpler pure pursuit inspired mode. The ego vehicle also autonomously stops in time at signaled intersections or to avoid collision with other road users.
Item Type: | Journal Article | ||||||
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Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics | ||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||
Library of Congress Subject Headings (LCSH): | Automated vehicles, Automobiles -- Automatic control, Intelligent transportation systems, Automobiles -- Speed -- Automatic control, Switching theory | ||||||
Journal or Publication Title: | Transportation Research Record: Journal of the Transportation Research Board | ||||||
Publisher: | Sage Publications Ltd | ||||||
ISSN: | 0361-1981 | ||||||
Official Date: | 13 November 2021 | ||||||
Dates: |
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Volume: | 2676 | ||||||
Number: | 3 | ||||||
Page Range: | pp. 712-727 | ||||||
DOI: | 10.1177/03611981211056636 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Reuse Statement (publisher, data, author rights): | Horri N, Haas O, Wang S, Foo M, Fernandez MS. Mode Switching Control Using Lane Keeping Assist and Waypoints Tracking for Autonomous Driving in a City Environment. Transportation Research Record. November 2021. doi:10.1177/03611981211056636 Copyright ©2021 (Copyright Holder). Reprinted by permission of SAGE Publications. | ||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||
Date of first compliant deposit: | 15 November 2021 | ||||||
Date of first compliant Open Access: | 16 November 2021 | ||||||
RIOXX Funder/Project Grant: |
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