Model Predictive Control-Based Collision Avoidance for Autonomous Surface Vehicles in Congested Inland Waters

Obstacle avoidance of autonomous vehicles based on model predictive control

This paper presents an obstacle avoidance scheme for autonomous vehicles as an active safety procedure in unknown environments. Safe trajectories are generated using the non-linear model predictive framework, in which the simplified dynamics of the vehicle are used to predict the state of the vehicle over the look-ahead horizon. To compensate for the slight dissimilarity between the simplified ...

Threat-based hazard avoidance for semi-autonomous vehicles using nonlinear model predictive control

Risk-Based Collision Avoidance in Semi-Autonomous Vehicles

Although there have been a number of advances in active vehicle safety, such as Autonomous Emergency Braking[2] and Steering[5], there is significant room for improvement. By using a riskminimization approach that utilizes a neural network trained from simulation and re-evaluates its control decision 30 times per second, we are able to significantly improve upon Autonomous Emergency systems. In...

Ship Collision Avoidance Using Scenario-Based Model Predictive Control ?

A set of alternative collision avoidance control behaviors are parameterized by two parameters: Offsets to the guidance course angle commanded to the autopilot, and changes to the propulsion command ranging from nominal speed to full reverse. Using predictions of the trajectories of the obstacles and ship, the compliance with the COLREGS rules and collision hazards associated with the alternati...

Intent-Estimation- and Motion-Model-Based Collision Avoidance Method for Autonomous Vehicles in Urban Environments

Existing collision avoidance methods for autonomous vehicles, which ignore the driving intent of detected vehicles, thus, cannot satisfy the requirements for autonomous driving in urban environments because of their high false detection rates of collisions with vehicles on winding roads and the missed detection rate of collisions with maneuvering vehicles. This study introduces an intent-estima...