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A Disturbance Activation Approach to Collision Avoidance Autonomous Driving

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F19%3A10246694" target="_blank" >RIV/61989100:27240/19:10246694 - isvavai.cz</a>

  • Result on the web

    <a href="https://ieeexplore.ieee.org/document/9066077" target="_blank" >https://ieeexplore.ieee.org/document/9066077</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/ICSPIS48872.2019.9066077" target="_blank" >10.1109/ICSPIS48872.2019.9066077</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    A Disturbance Activation Approach to Collision Avoidance Autonomous Driving

  • Original language description

    A very challenging control task for operating autonomous vehicles is to avoid collision with approaching pedestrians or vehicles while tracking a reference trajectory. This paper proposes a Linear-Quadratic Regulator (LQR)-based collision avoidance trajectory tracking controller for an autonomous driving scenario. In this approach, simply the control module activates a designed disturbance when there is a collision situation. A proper design of the disturbance causes the vehicle to prevent the collision and safely maneuver on the road. The asymptotic stability of this feedback LQR-based controller under an infinite horizon is shown. Simulation experiments are carried out to illustrate the performance of the proposed controller. (C) 2019 IEEE.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    <a href="/en/project/EF16_027%2F0008463" target="_blank" >EF16_027/0008463: Science without borders</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2019

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    5th Iranian Conference on Signal Processing and Intelligent Systems, ICSPIS 2019

  • ISBN

    978-1-72815-350-6

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

  • Publisher name

    IEEE

  • Place of publication

    Piscataway

  • Event location

    Shahrood

  • Event date

    Dec 18, 2019

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000570801800029