Journal
IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE
Volume 9, Issue 3, Pages 23-35Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/MITS.2017.2709782
Keywords
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Funding
- National Science Foundation [1239323]
- Hyundai Center of Excellence at UC Berkeley
- Master Thesis Grant
- Division Of Computer and Network Systems
- Direct For Computer & Info Scie & Enginr [1239323] Funding Source: National Science Foundation
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This paper presents a novel design of control algorithms for lane change assistance and autonomous driving on highways, based on recent results in Scenario Model Predictive Control (SCMPC). The basic idea is to account for the uncertainty in the traffic environment by a small number of future scenarios, which is intuitive and computationally efficient. These scenarios can be generated by any model-based or data-based approach. The paper discusses the SCMPC design procedure, which is simple and can be generalized to other control challenges in automated driving, as well as the controller's robustness properties. Experimental results demonstrate the effectiveness of the SCMPC algorithm and its performance in lane change situations on highways.
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