Semi-Autonomous Vehicle Control for Road Departure and Obstacle Avoidance
نویسندگان
چکیده
This paper presents an active safety system for avoiding obstacles and preventing road departures by means of assistance in steering and braking. A Nonlinear Model Predictive Controller (NMPC) is designed with the goal of using the minimum control intervention to keep the driver safe. The NMPC uses a nonlinear vehicle and driver steering model to predict a collision or a roadway departure. The first part of the paper presents the models and the control design approach. In the second part, simulations demonstrate the effectiveness of the proposed approach.
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