Modelling and Control of Test-Scenarios for Validation of Autonomous Driving Functions
Paper i proceeding, 2021

This paper presents a modelling and control framework for the coordination of leader-follower, multi-agent mobile systems, where the followers have to coordinate with a leading agent that is externally controlled. The problem setting is motivated by an experimental validation problem for a passenger vehicle (the leader), which has to be exposed to a traffic scenario by controlling a number of mobile test-targets (the followers) resembling the surrounding road users. The proposed control approach, which builds on reachability analysis and predictive control, allows to control the followers through the stages of the scenario, while satisfying the constraints imposed by the physical limitations of the followers, provided that the motion of the leader complies with certain bounds. Simulation results illustrate the proposed framework.

Författare

Angel Molina Acosta

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

American Control Conference

0743-1619 (ISSN)

Vol. 2021-May 2943-2948 9483214

2021 American Control Conference, ACC 2021
Virtual, New Orleans, USA,

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.23919/ACC50511.2021.9483214

Mer information

Senast uppdaterat

2021-08-16