NDLI: A model predictive combined planning and control approach for guidance of automated vehicles

Content Provider	IEEE Xplore Digital Library
Author	Gotte, C. Keller, M. Hass, C. Glander, K.-H. Seewald, A. Bertram, T.
Copyright Year	2015
Description	Author affiliation: ZF TRW 40547 Dusseldorf, Germany (Keller, M.; Hass, C.; Glander, K.-H.; Seewald, A.) \|\| Institute of Control Theory and Systems Engineering TU Dortmund 44227 Dortmund, Germany (Gotte, C.; Bertram, T.)
Abstract	A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm extends the Timed Elastic Band (TEB) approach by a suitable vehicle dynamics model, which facilitates stable vehicle guidance. The problem of trajectory generation is reformulated such that a nonlinear model predictive control (NMPC) method can be applied. The analysis of different traffic scenarios shows the functionality of the developed concept.
Starting Page	69
Ending Page	74
File Size	776023
Page Count	6
File Format	PDF
e-ISBN	9781467391146
DOI	10.1109/ICVES.2015.7396896
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Predictive models Tires Trajectory Planning Vehicle dynamics Vehicles
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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