An MPC-based approach to provable system-wide safety and liveness of autonomous ground traffic

IEEE Transactions on Automatic Control

Volumn 59, Issue 12, 2015, Pages 3341-3356

  Kim, Kyoung Dae ^a   Kumar, P R ^b  

^a University of Denver   (United States)

^b Department of Electrical and Computer Engineering   (United States)

Author keywords

Autonomous vehicles; intelligent intersections; liveness; model predictive control (MPC); motion planning; safety

Indexed keywords

EID: 84914127443     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2014.2351911     Document Type: Article

References (16)

1. K.-D. Kim and P. Kumar, "Cyber-physical systems: A perspective at the centennial, " Proc. IEEE, vol. 100, pp. 1287-1308, May 2012
2. Intelligent Transportation Systems Program. [Online]. Available: Http://www.its.dot.gov/research.htm
3. eSafety Forum. [Online]. Available: Http://www.icarsupport.eu/esafety-forum/
4. ITS Initiative in Japan. [Online]. Available: Http://www.mlit.go.jp/road/ITS/index.html
5. R. Horowitz and P. Varaiya, "Control design of an automated highway system, " Proc. IEEE, vol. 88, no. 7, pp. 913-925, Jul. 2000
6. P. Varaiya, "Smart cars on smart roads: Problems of control, " IEEE Trans. Autom. Control, vol. 38, no. 2, pp. 195-207, Feb. 1993
7. M. Campbell, M. Egerstedt, J. P. How, and R. M. Murray, "Autonomous driving in urban environments: Approaches, lessons and challenges, " Philosophical Trans. R. Soc. A-Math., Phys. Eng. Sci., vol. 358, pp. 4649-4672, 2010
8. D. Ferguson, T. Howard, and M. Likhachev, "Motion planning in urban environments: Part I, " in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2008
9. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J. P. How, "Real-Time motion planning with applications to autonomous urban driving, " IEEE Trans. Control Syst. Technol., vol. 17, no. 5, pp. 1105-1118, Sep. 2009
10. P. Falcone, F. Borrelli, J. Asgari, H. Tseng, and D. Hrovat, "Predictive active steering control for autonomous vehicle systems, " IEEE Trans. Control Syst. Technol., vol. 15, no. 3, pp. 566-580, May 2007
11. H. Kowshik, D. Caveney, and P. Kumar, "Provable systemwide safety in intelligent intersections, " IEEE Trans. Veh. Technol., vol. 60, no. 3, pp. 804-818, Mar. 2011
12. A. Colombo and D. Del Vecchio, "Efficient algorithms for collision avoidance at intersections, " in Proc. HSCC, 2012, pp. 145-154
13. R. Verma and D. Vecchio, "Semiautonomous multivehicle safety, " IEEE Rob. Autom. Mag., vol. 18, no. 3, pp. 44-54, Sep. 2011
14. K. Dresner and P. Stone, "A multiagent approach to autonomous intersection management, " J. Artif. Intell. Res., vol. 31, no. 1, pp. 591-656, 2008
15. P. Tientrakool, Y.-C. Ho, and N. Maxemchuk, "Highway capacity benefits from using vehicle-To-vehicle communication and sensors for collision avoidance, " in Proc. IEEE Veh. Technol. Conf., 2011, pp. 1-5
16. D. Q. Mayne, J. B. Rawlings, C. V. Rao, and P. O. M. Scokaert, "Constrained model predictive control: Stability and optimality, " Automatica, vol. 36, no. 6, pp. 789-814, 2000