With autonomous driving being tested – and soon deployed – in more and more challenging environment, it is very important to get guaranties from sub-systems. Although the complexity of the real world makes the elaboration of such guarantees sophisticated, it is still possible to ensure consistency and adaptability of the planning and control part. This means that, at least, the intention and the action undertaken will be executed correctly. This paper presents a real-time safe planning and control architecture that fully adapts to slippery roads. It is based on a 10Hz Model Predictive Control motion planner and 100Hz low-level controllers. Its validity is demonstrated both theoretically and in simulation, by performing tests using a high-fidelity vehicle model on a challenging track with static obstacles on both wet and snow-covered roads. One interesting feature is that, while adapting to extreme low adherence, the algorithms and parameters for planning and control remain the same, showing the capacity of the architecture to adapt to the situation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Real-time Safe Planning and Control Architecture for Autonomous Driving Adapting to Slippery Roads




    Publication date :

    2018-11-01


    Size :

    1194361 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Quality Requirements of Spreading Materials to Control Slippery Roads

    Wagner, F.-J. / Permanent International Association of Road Congresses | British Library Conference Proceedings | 1994



    A Path Tracking Approach for Autonomous Driving on Slippery Surfaces

    Regolin, Enrico / Zambelli, Massimo / Vanzulli, Marco et al. | IEEE | 2019


    An EPS control strategy to improve steering maneuverability on slippery roads

    Kurishige,M. / Tanaka,H. / Inoue,N. et al. | Automotive engineering | 2002


    Planning safe roads for future

    Nicholas, R. | Engineering Index Backfile | 1946