Automated driving: the role of forecasts and uncertainty -- a control perspective

DOI10.1016/J.EJCON.2015.04.007MaRDI QIDQ522871zbMATH OpenOpenAlexFDO

Authors Ashwin Carvalho, Stéphanie Lefévre, Georg Schildbach, Jason Kong, Francesco Borrelli

Publication date 19 April 2017

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2015.04.007

zbMATH Keywords

model predictive controladaptive learningautomated drivingautonomous cars

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) General systems (93A10) Design techniques (robust design, computer-aided design, etc.) (93B51) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02)

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Cites work

• scientific article; zbMATH DE number 720689 (Why is no real title available?)
• scientific article; zbMATH DE number 1532313 (Why is no real title available?)
• scientific article; zbMATH DE number 5060482 (Why is no real title available?)
• A sampling-and-discarding approach to chance-constrained optimization: feasibility and Optimality
• Constrained model predictive control: Stability and optimality
• Design of Affine Controllers via Convex Optimization
• Explicit use of probabilistic distributions in linear predictive control
• Linear and nonlinear programming.
• MPC for stochastic systems
• Min-max control of constrained uncertain discrete-time linear systems
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Optimal feedback control strategies for state-space systems with stochastic parameters
• Probabilistic tubes in linear stochastic model predictive control
• Random convex programs
• Randomized solutions to convex programs with multiple chance constraints
• Stochastic receding horizon control with output feedback and bounded controls
• Successive Linearization NMPC for a Class of Stochastic Nonlinear Systems
• The Exact Feasibility of Randomized Solutions of Uncertain Convex Programs
• The Scenario Approach to Robust Control Design
• The scenario approach for stochastic model predictive control with bounds on closed-loop constraint violations
• Vehicle Dynamics and Control

Cited in

(4)

• On low complexity predictive approaches to control of autonomous vehicles
• Decision support issues in automated driving systems
• Safe, learning-based MPC for highway driving under Lane-change uncertainty: a distributionally robust approach
• Observer-based tracking design using \(H_\infty\) criteria: application to eco-driving in a tramway system

Describes a project that uses

Uses Software

• SUMO
• NPSOL
• Ipopt

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