Stochastic Model Predictive Control for Stop Maneuver of Autonomous Vehicles under Perception Uncertainty

Sangyoon Kim; Ara Jo; Kyongsu Yi

doi:10.22680/kasa2022.14.4.035

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2022 Vol.14, Issue 4 Preview Page Next Page

Stochastic Model Predictive Control for Stop Maneuver of Autonomous Vehicles under Perception Uncertainty 자율주행 자동차 정지 거동에서의 인지 불확실성을 고려한 확률적 모델 예측 제어

31 December 2022. pp. 35-42

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Abstract

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

Keywords

Stochastic Model Predictive Control

Stop Maneuver

Perception Uncertainty

키워드

확률적 모델 예측 제어

정지 거동

인지 불확실성

References

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 14
No :4
Pages :35-42
Received Date : 2022-04-17
Revised Date : 2022-10-07
Accepted Date : 2022-11-04
DOI :https://doi.org/10.22680/kasa2022.14.4.035

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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