A Unified MPC Envelope Control Formulation for Toyota Guardian and Chauffeur. Issue 16 (2022)

• Record Type: Journal Article
• Authors: Bobier-Tiu, Carrie G.; Koehler, Sarah M.; Brown, Matthew; Ahumada, Manuel
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 16(2022)
• Page Start: 19
• Page End: 24
• Publication Date: 2022
• Subjects: Model predictive -- optimization-based control -- Autonomous Vehicles -- Human -- vehicle interaction -- Motion control -- Safety; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.08.075
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: For a vehicle that can execute safety and autonomy technologies in two paradigms — shared control (Guardian) and autonomous control (Chauffeur) — we present a unified formulation for chassis control in both paradigms. The primary goal for both is to maintain the vehicle within a safe state space, and secondarily track either a human driver's intention through shared control, or a desired trajectory in autonomous operation. We introduce the notion of a pseudo-driver when in the autonomous mode, which mathematically mimics the human driver by using the desired path to generate a "driver's" steering angle and acceleration commands. This pseudo-driver allows for an identical controller formulation between both modes. Quantified experimental results are presented.