The presented approach combines the planning of trajectories and the vehicle control during emergency maneuvers. For this purpose an approach is utilized, which predicts the future behavior of the actuators and the vehicle with a nonlinear model. The input space is roughly discretized and a trajectory set is calculated explicitly. The choice of optimal inputs is performed by a direct comparison of the possible trajectories, in contrast to model predictive control. The discretization is carried out adaptively depending on the current reference input. Issues arising from the limited degree of freedom are solved by an additional transition time within the prediction horizon. Model inaccuracies are taken into account during the objective function evaluation, by utilizing a soft constraint function, which increase the distance to objects and street boundaries.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multi Stage Model Predictive Trajectory Set Approach for Collision Avoidance


    Beteiligte:
    Homann, Andreas (Autor:in) / Buss, Markus (Autor:in) / Keller, Martin (Autor:in) / Glander, Karl-Heinz (Autor:in) / Bertram, Torsten (Autor:in)


    Erscheinungsdatum :

    01.11.2018


    Format / Umfang :

    394812 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    MODEL PREDICTIVE APPROACH FOR SHORT-TERM COLLISION AVOIDANCE

    Dikarew, A. | British Library Conference Proceedings | 2021


    Aircraft Collision Avoidance Trajectory Generation

    Ota, T. / Nagati, M. / Lee, D.-C. et al. | British Library Conference Proceedings | 1998


    COLLISION AVOIDANCE WITH TRAJECTORY EVALUATION

    CLAWSON TAYLOR SCOTT / TOUPET OLIVIER AMAURY / AGRAWAL VARUN et al. | Europäisches Patentamt | 2024

    Freier Zugriff