Safe driving envelopes for path tracking in autonomous vehicles
One approach to motion control of autonomous vehicles is to divide control between path planning and path tracking. This paper introduces an alternative control framework that integrates local path planning and path tracking using model predictive control (MPC). The controller plans trajectories, co...
Uložené v:
| Vydané v: | Control engineering practice Ročník 61; s. 307 - 316 |
|---|---|
| Hlavní autori: | , , , |
| Médium: | Journal Article |
| Jazyk: | English |
| Vydavateľské údaje: |
Elsevier Ltd
01.04.2017
|
| Predmet: | |
| ISSN: | 0967-0661, 1873-6939 |
| On-line prístup: | Získať plný text |
| Tagy: |
Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
|
| Abstract | One approach to motion control of autonomous vehicles is to divide control between path planning and path tracking. This paper introduces an alternative control framework that integrates local path planning and path tracking using model predictive control (MPC). The controller plans trajectories, consisting of position and velocity states, that best follow a desired path while remaining within two safe envelopes. One envelope corresponds to conditions for stability and the other to obstacle avoidance. This enables the controller to safely and minimally deviate from a nominal path if necessary to avoid spinning out or colliding with an obstacle. A long prediction horizon allows action in the present to avoid a dangerous situation in the future. This motivates the use of a first-order hold discretization method that maintains model fidelity and computational feasibility. The controller is implemented in real-time on an experimental vehicle for several driving scenarios. |
|---|---|
| AbstractList | One approach to motion control of autonomous vehicles is to divide control between path planning and path tracking. This paper introduces an alternative control framework that integrates local path planning and path tracking using model predictive control (MPC). The controller plans trajectories, consisting of position and velocity states, that best follow a desired path while remaining within two safe envelopes. One envelope corresponds to conditions for stability and the other to obstacle avoidance. This enables the controller to safely and minimally deviate from a nominal path if necessary to avoid spinning out or colliding with an obstacle. A long prediction horizon allows action in the present to avoid a dangerous situation in the future. This motivates the use of a first-order hold discretization method that maintains model fidelity and computational feasibility. The controller is implemented in real-time on an experimental vehicle for several driving scenarios. |
| Author | Erlien, Stephen Funke, Joseph Gerdes, J. Christian Brown, Matthew |
| Author_xml | – sequence: 1 givenname: Matthew surname: Brown fullname: Brown, Matthew email: mjbrown@stanford.edu – sequence: 2 givenname: Joseph surname: Funke fullname: Funke, Joseph – sequence: 3 givenname: Stephen surname: Erlien fullname: Erlien, Stephen – sequence: 4 givenname: J. Christian surname: Gerdes fullname: Gerdes, J. Christian |
| BookMark | eNqNkN1KxDAQhYOs4O7qO-QFWpOmP-mNoot_sOCFeh2y0-lu1m5Skm7BtzdFQfBGrwbOzPk4cxZkZp1FQihnKWe8vNynEAW77b2GNItKyvKUcXFC5lxWIilrUc_InNVllbCy5GdkEcKexcO65nNy_aJbpI03o7FbinbEzvUYaOs87fWwo0Pkvk87Y6k-Ds66gzsGOuLOQIfhnJy2ugt48T2X5O3-7nX1mKyfH55WN-sEBJdDokE2cpOxNpMtNAXf8IptWqxAV7rkEpDlBWYFFDWrJORT0KLkokBWo2AgxJJcfXHBuxA8tgrMoAfjbAxoOsWZmupQe_VTh5rqUCxXsY4IkL8AvTcH7T_-Y739smJ8cDToVQCDFrAxHmFQjTN_Qz4BfViD1A |
| CitedBy_id | crossref_primary_10_1080_00423114_2018_1502456 crossref_primary_10_1093_iti_liad009 crossref_primary_10_1177_09544070221083728 crossref_primary_10_1088_1748_0221_15_01_P01025 crossref_primary_10_1177_0954407020974251 crossref_primary_10_1007_s12239_022_0004_3 crossref_primary_10_1109_TVT_2020_2999612 crossref_primary_10_1155_2020_6793821 crossref_primary_10_1016_j_jterra_2024_101027 crossref_primary_10_1016_j_arcontrol_2022_11_001 crossref_primary_10_1080_00423114_2023_2180755 crossref_primary_10_1016_j_ifacol_2020_12_1377 crossref_primary_10_1155_2022_9374118 crossref_primary_10_1007_s12239_025_00267_z crossref_primary_10_1080_13675567_2017_1384451 crossref_primary_10_1109_THMS_2022_3190683 crossref_primary_10_1371_journal_pone_0320359 crossref_primary_10_1080_00423114_2020_1767795 crossref_primary_10_1177_09544070221087485 crossref_primary_10_1109_TTE_2024_3380629 crossref_primary_10_1109_ACCESS_2023_3335266 crossref_primary_10_1109_TII_2021_3058948 crossref_primary_10_1109_TVT_2024_3462508 crossref_primary_10_1109_TIV_2024_3372522 crossref_primary_10_3390_app13116465 crossref_primary_10_1016_j_eswa_2020_113816 crossref_primary_10_1016_j_jfranklin_2024_106700 crossref_primary_10_1155_2023_2464254 crossref_primary_10_3390_aerospace10020136 crossref_primary_10_1109_TVT_2022_3216486 crossref_primary_10_1080_00423114_2020_1744024 crossref_primary_10_1177_09544070211020535 crossref_primary_10_1109_TMECH_2022_3183200 crossref_primary_10_1109_TRO_2020_3047521 crossref_primary_10_3390_app8050822 crossref_primary_10_3390_app9224739 crossref_primary_10_1109_ACCESS_2019_2933895 crossref_primary_10_1109_ACCESS_2020_3017280 crossref_primary_10_1109_TITS_2024_3362064 crossref_primary_10_3390_en11061451 crossref_primary_10_3390_wevj14020054 crossref_primary_10_1016_j_conengprac_2021_104751 crossref_primary_10_1109_TRO_2021_3088009 crossref_primary_10_1049_itr2_12051 crossref_primary_10_3846_mla_2017_1075 crossref_primary_10_1007_s11432_022_3713_8 crossref_primary_10_1109_TITS_2024_3451509 crossref_primary_10_1109_TIV_2022_3218734 crossref_primary_10_1002_ente_202300082 crossref_primary_10_1109_TIV_2024_3351131 crossref_primary_10_1016_j_simpat_2020_102235 crossref_primary_10_1177_01423312211003809 crossref_primary_10_4271_02_17_01_0007 crossref_primary_10_1177_01423312221135255 crossref_primary_10_3390_machines11020303 crossref_primary_10_1007_s12555_019_9091_y crossref_primary_10_1109_TVT_2020_2998065 crossref_primary_10_1007_s11465_021_0660_4 crossref_primary_10_1109_TITS_2022_3150365 crossref_primary_10_1016_j_arcontrol_2018_04_011 crossref_primary_10_1177_09544070221080158 crossref_primary_10_1049_iet_its_2018_5095 crossref_primary_10_1080_00423114_2023_2276767 crossref_primary_10_1016_j_conengprac_2023_105813 crossref_primary_10_3390_s20216052 crossref_primary_10_1109_TITS_2019_2958352 crossref_primary_10_1007_s42154_021_00155_z crossref_primary_10_1109_TMECH_2023_3274689 crossref_primary_10_1109_TSMC_2018_2819500 crossref_primary_10_1139_tcsme_2024_0070 crossref_primary_10_1155_2021_5549776 crossref_primary_10_1016_j_conengprac_2018_04_007 crossref_primary_10_19206_CE_208521 crossref_primary_10_1016_j_conengprac_2020_104482 crossref_primary_10_1145_3704738 crossref_primary_10_1063_5_0078950 crossref_primary_10_1016_j_conengprac_2018_04_014 crossref_primary_10_1109_LRA_2019_2929976 crossref_primary_10_1109_ACCESS_2021_3100557 crossref_primary_10_1109_TVT_2024_3436826 crossref_primary_10_1109_TVT_2023_3337331 crossref_primary_10_1109_ACCESS_2025_3555142 crossref_primary_10_1007_s12239_020_0034_7 crossref_primary_10_1109_TCYB_2022_3151880 crossref_primary_10_1177_09544070221105729 crossref_primary_10_1080_00423114_2018_1535125 crossref_primary_10_1109_ACCESS_2019_2940758 crossref_primary_10_3390_electronics11193119 crossref_primary_10_1049_iet_its_2019_0846 crossref_primary_10_1109_TVT_2018_2834381 crossref_primary_10_1016_j_conengprac_2019_104270 crossref_primary_10_1080_00423114_2019_1608363 crossref_primary_10_1177_0954407021993623 crossref_primary_10_3390_act10090228 crossref_primary_10_1109_ACCESS_2018_2889997 crossref_primary_10_1109_TVT_2024_3445137 crossref_primary_10_1109_TVT_2019_2956504 crossref_primary_10_1007_s12239_024_00086_8 crossref_primary_10_1080_00423114_2023_2296595 crossref_primary_10_1080_00423114_2020_1776344 crossref_primary_10_1109_TIV_2022_3167271 crossref_primary_10_1016_j_conengprac_2022_105074 crossref_primary_10_1109_ACCESS_2019_2912094 crossref_primary_10_1109_ACCESS_2021_3063795 crossref_primary_10_1109_TCE_2023_3331843 crossref_primary_10_1016_j_conengprac_2020_104659 crossref_primary_10_1109_TMECH_2020_3032998 crossref_primary_10_1109_TASE_2023_3346876 crossref_primary_10_1155_2021_6631049 crossref_primary_10_21595_jve_2025_24909 crossref_primary_10_1108_IR_12_2019_0254 crossref_primary_10_1109_ACCESS_2021_3084807 crossref_primary_10_1016_j_rineng_2024_103123 crossref_primary_10_1016_j_eswa_2024_125790 crossref_primary_10_1109_TITS_2019_2924705 crossref_primary_10_1007_s12555_024_0645_2 crossref_primary_10_1109_TVT_2021_3137512 crossref_primary_10_1016_j_neucom_2022_02_027 crossref_primary_10_1016_j_apenergy_2021_117385 crossref_primary_10_1109_TITS_2021_3114060 crossref_primary_10_1177_0142331219856196 crossref_primary_10_1177_09544070221144159 crossref_primary_10_1109_TITS_2020_2984210 crossref_primary_10_1109_TIV_2021_3051325 crossref_primary_10_1016_j_ifacol_2022_08_075 crossref_primary_10_3390_s24072316 crossref_primary_10_1016_j_trf_2022_01_002 crossref_primary_10_1109_TCST_2021_3130225 crossref_primary_10_1109_TTE_2024_3358566 crossref_primary_10_1016_j_ymssp_2020_106773 crossref_primary_10_1080_00423114_2018_1537494 crossref_primary_10_1177_09544070241283132 crossref_primary_10_3390_electronics9060883 crossref_primary_10_1109_TITS_2020_2974495 crossref_primary_10_1109_TITS_2022_3186429 crossref_primary_10_1177_0959651817733222 crossref_primary_10_1109_TCSVT_2023_3249162 crossref_primary_10_1109_TITS_2024_3513436 crossref_primary_10_3390_electronics13081442 crossref_primary_10_1177_09544070211033835 crossref_primary_10_1109_TVT_2023_3292616 crossref_primary_10_1080_00423114_2025_2456035 crossref_primary_10_1109_ACCESS_2020_3037119 crossref_primary_10_1177_0954407020948298 crossref_primary_10_1109_TVT_2020_3046052 crossref_primary_10_1177_0278364920950795 crossref_primary_10_1007_s11771_020_4561_1 crossref_primary_10_1088_1742_6596_2083_3_032029 crossref_primary_10_3390_wevj14010011 crossref_primary_10_1109_TVT_2021_3114729 crossref_primary_10_1109_TITS_2020_2983171 crossref_primary_10_1109_TITS_2021_3118375 crossref_primary_10_3390_app11199259 crossref_primary_10_1177_0954407020938490 crossref_primary_10_1016_j_eswa_2024_123716 crossref_primary_10_1109_TITS_2020_2982002 crossref_primary_10_1016_j_jfranklin_2024_106690 crossref_primary_10_1109_ACCESS_2023_3236816 crossref_primary_10_3390_app10217394 crossref_primary_10_1080_00423114_2022_2046280 crossref_primary_10_1109_TCST_2022_3154370 crossref_primary_10_1109_TIV_2019_2955362 crossref_primary_10_3390_s20041079 crossref_primary_10_1109_TVT_2024_3361020 crossref_primary_10_1177_10775463231207119 crossref_primary_10_1109_TVT_2022_3163507 crossref_primary_10_3390_app12031061 crossref_primary_10_1016_j_conengprac_2022_105164 crossref_primary_10_1177_10775463211009383 crossref_primary_10_3390_s25175605 crossref_primary_10_3390_su17052236 crossref_primary_10_1186_s13634_022_00860_9 crossref_primary_10_1109_TIV_2022_3232804 crossref_primary_10_1109_ACCESS_2021_3112560 crossref_primary_10_1109_TITS_2022_3172442 crossref_primary_10_3390_electronics10040510 crossref_primary_10_1007_s10846_023_01901_7 crossref_primary_10_3390_app132212443 crossref_primary_10_1007_s11071_022_08081_3 crossref_primary_10_1016_j_advengsoft_2019_05_003 crossref_primary_10_1038_s44172_024_00182_8 crossref_primary_10_1177_09544070221088068 crossref_primary_10_1177_09544070251339518 crossref_primary_10_1177_0959651821991357 crossref_primary_10_1109_TVT_2021_3097381 crossref_primary_10_1109_ACCESS_2019_2959043 crossref_primary_10_1007_s12239_021_0134_z crossref_primary_10_1109_TIV_2024_3376676 |
| Cites_doi | 10.1115/DSCC2011-6097 10.1109/ROBOT.2001.933197 10.1002/rob.20258 10.1002/rnc.1245 10.1177/0278364909340445 10.1177/0278364909359210 10.1002/rob.20147 10.1002/rob.20264 10.1109/TCST.2009.2031099 10.1109/TCST.2012.2200826 10.1002/rob.20262 10.1007/s11081-011-9176-9 10.1109/ACC.2014.6859116 10.1504/IJVAS.2005.008237 10.1504/IJVAS.2012.051270 |
| ContentType | Journal Article |
| Copyright | 2017 Elsevier Ltd |
| Copyright_xml | – notice: 2017 Elsevier Ltd |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.conengprac.2016.04.013 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1873-6939 |
| EndPage | 316 |
| ExternalDocumentID | 10_1016_j_conengprac_2016_04_013 S0967066116300831 |
| GroupedDBID | --K --M .~1 0R~ 1B1 1~. 1~5 29F 4.4 457 4G. 5GY 5VS 6J9 6TJ 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO ABFNM ABFRF ABJNI ABMAC ABTAH ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ADBBV ADEZE ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA HVGLF HZ~ IHE J1W JJJVA KOM LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ SDF SDG SES SET SEW SPC SPCBC SST SSZ T5K UNMZH WUQ XFK XPP ZMT ZY4 ~G- 9DU AATTM AAXKI AAYWO AAYXX ABWVN ACLOT ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP CITATION EFKBS ~HD |
| ID | FETCH-LOGICAL-c318t-ac8d8b20f28fcd51b170bfe7ca7a618ce045e25c59078c4066156135e09e30c33 |
| ISICitedReferencesCount | 251 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000399628600027&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0967-0661 |
| IngestDate | Sat Nov 29 07:10:14 EST 2025 Tue Nov 18 22:23:52 EST 2025 Fri Feb 23 02:35:42 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Vehicle stability Model predictive control Path tracking First-order hold Obstacle avoidance Autonomous vehicles |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c318t-ac8d8b20f28fcd51b170bfe7ca7a618ce045e25c59078c4066156135e09e30c33 |
| PageCount | 10 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_conengprac_2016_04_013 crossref_primary_10_1016_j_conengprac_2016_04_013 elsevier_sciencedirect_doi_10_1016_j_conengprac_2016_04_013 |
| PublicationCentury | 2000 |
| PublicationDate | April 2017 2017-04-00 |
| PublicationDateYYYYMMDD | 2017-04-01 |
| PublicationDate_xml | – month: 04 year: 2017 text: April 2017 |
| PublicationDecade | 2010 |
| PublicationTitle | Control engineering practice |
| PublicationYear | 2017 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Hsu, Laws, Gerdes (bib11) 2010; 18 Erlien, Fujita, Gerdes (bib5) 2013; 7 Theodosis, P.A., & Gerdes, J. C., (2011). Generating a racing line for an autonomous race car using professional driving techniques. In Likhachev, Ferguson (bib14) 2009; 28 (pp. 3722–3727). Mattingley, Boyd (bib15) 2012; 13 Kritayakirana, Gerdes (bib12) 2012; 10 Montemerlo, Becker, Bhat, Dahlkamp, Dolgov, Ettinger (bib17) 2008; 25 Campbell, S. F., (2007). Fiala (bib8) 1954; 96 Borrelli, Falcone, Keviczky, Asgari (bib2) 2005; 3 (Ph.D. dissertation). Massachusetts Institute of Technology. Fraichard, T., Ahuactzin, J. M. (2001). Smooth path planning for cars. In Erlien, S.M., Funke, J., & Gerdes, J.C., (2014). Incorporating non-linear tire dynamics into a convex approach to shared steering control. In Leonard, How, Teller, Berger, Campbell, Fiore (bib13) 2008; 25 McBride, Ivan, Rhode, Rupp, Rupp, Higgins (bib16) 2008; 25 Beal, Gerdes (bib1) 2013; 21 Falcone, Borrelli, Tseng, Asgari, Hrovat (bib7) 2008; 18 (pp. 853–860). American Society of Mechanical Engineers, Arlington, VA. (pp. 3468–3473). IEEE, Portland, OR. Franklin, Workman, Powell (bib10) 1997 Pacejka (bib18) 2002 Thrun, Montemerlo, Dahlkamp, Stavens, Aron, Diebel (bib20) 2006; 23 Dolgov, Thrun, Montemerlo, Diebel (bib4) 2010; 29 McBride (10.1016/j.conengprac.2016.04.013_bib16) 2008; 25 Hsu (10.1016/j.conengprac.2016.04.013_bib11) 2010; 18 Kritayakirana (10.1016/j.conengprac.2016.04.013_bib12) 2012; 10 Likhachev (10.1016/j.conengprac.2016.04.013_bib14) 2009; 28 Montemerlo (10.1016/j.conengprac.2016.04.013_bib17) 2008; 25 10.1016/j.conengprac.2016.04.013_bib19 Borrelli (10.1016/j.conengprac.2016.04.013_bib2) 2005; 3 Thrun (10.1016/j.conengprac.2016.04.013_bib20) 2006; 23 Dolgov (10.1016/j.conengprac.2016.04.013_bib4) 2010; 29 Franklin (10.1016/j.conengprac.2016.04.013_bib10) 1997 Mattingley (10.1016/j.conengprac.2016.04.013_bib15) 2012; 13 Erlien (10.1016/j.conengprac.2016.04.013_bib5) 2013; 7 10.1016/j.conengprac.2016.04.013_bib6 Fiala (10.1016/j.conengprac.2016.04.013_bib8) 1954; 96 Pacejka (10.1016/j.conengprac.2016.04.013_bib18) 2002 Leonard (10.1016/j.conengprac.2016.04.013_bib13) 2008; 25 10.1016/j.conengprac.2016.04.013_bib3 Beal (10.1016/j.conengprac.2016.04.013_bib1) 2013; 21 Falcone (10.1016/j.conengprac.2016.04.013_bib7) 2008; 18 10.1016/j.conengprac.2016.04.013_bib9 |
| References_xml | – volume: 18 start-page: 896 year: 2010 end-page: 907 ident: bib11 article-title: Estimation of tire slip angle and friction limits using steering torque publication-title: IEEE Transactions on Control Systems Technology – volume: 29 start-page: 485 year: 2010 end-page: 501 ident: bib4 article-title: Path planning for autonomous vehicles in unknown semi-structured environments publication-title: The International Journal of Robotics Research – volume: 7 start-page: 831 year: 2013 end-page: 836 ident: bib5 article-title: Safe driving envelopes for shared control of ground vehicles publication-title: Advances in Automotive Control – volume: 18 start-page: 862 year: 2008 end-page: 875 ident: bib7 article-title: Linear time-varying model predictive control and its application to active steering systems publication-title: International Journal of Robust and Nonlinear Control – reference: Campbell, S. F., (2007). – volume: 28 start-page: 933 year: 2009 end-page: 945 ident: bib14 article-title: Planning long dynamically feasible maneuvers for autonomous vehicles publication-title: The International Journal of Robotics Research – volume: 25 start-page: 727 year: 2008 end-page: 774 ident: bib13 article-title: A perception-driven autonomous urban vehicle publication-title: Journal of Field Robotics – year: 2002 ident: bib18 article-title: Tire and vehicle dynamics – year: 1997 ident: bib10 article-title: Digital control of dynamic systems – volume: 23 start-page: 661 year: 2006 end-page: 692 ident: bib20 article-title: Stanley publication-title: Journal of Field Robotics – reference: Theodosis, P.A., & Gerdes, J. C., (2011). Generating a racing line for an autonomous race car using professional driving techniques. In – reference: (Ph.D. dissertation). Massachusetts Institute of Technology. – reference: (pp. 3722–3727). – volume: 25 start-page: 569 year: 2008 end-page: 597 ident: bib17 article-title: Junior publication-title: Journal of Field Robotics – volume: 3 start-page: 265 year: 2005 end-page: 291 ident: bib2 article-title: Mpc-based approach to active steering for autonomous vehicle systems publication-title: International Journal of Vehicle Autonomous Systems – volume: 10 start-page: 271 year: 2012 end-page: 296 ident: bib12 article-title: Autonomous vehicle control at the limits of handling publication-title: International Journal of Vehicle Autonomous Systems – volume: 96 start-page: 973 year: 1954 end-page: 979 ident: bib8 article-title: Lateral forces on rolling pneumatic tires publication-title: Zeitschrift VDI – volume: 13 start-page: 1 year: 2012 end-page: 27 ident: bib15 article-title: Cvxgen publication-title: Optimization and Engineering – reference: (pp. 853–860). American Society of Mechanical Engineers, Arlington, VA. – reference: Erlien, S.M., Funke, J., & Gerdes, J.C., (2014). Incorporating non-linear tire dynamics into a convex approach to shared steering control. In – volume: 25 start-page: 808 year: 2008 end-page: 840 ident: bib16 article-title: A perspective on emerging automotive safety applications, derived from lessons learned through participation in the darpa grand challenges publication-title: Journal of Field Robotics – reference: Fraichard, T., Ahuactzin, J. M. (2001). Smooth path planning for cars. In – reference: (pp. 3468–3473). IEEE, Portland, OR. – volume: 21 start-page: 1258 year: 2013 end-page: 1269 ident: bib1 article-title: Model predictive control for vehicle stabilization at the limits of handling publication-title: IEEE Transactions on Control Systems Technology – ident: 10.1016/j.conengprac.2016.04.013_bib19 doi: 10.1115/DSCC2011-6097 – ident: 10.1016/j.conengprac.2016.04.013_bib9 doi: 10.1109/ROBOT.2001.933197 – volume: 25 start-page: 569 issue: 9 year: 2008 ident: 10.1016/j.conengprac.2016.04.013_bib17 article-title: Junior publication-title: Journal of Field Robotics doi: 10.1002/rob.20258 – volume: 18 start-page: 862 issue: 8 year: 2008 ident: 10.1016/j.conengprac.2016.04.013_bib7 article-title: Linear time-varying model predictive control and its application to active steering systems publication-title: International Journal of Robust and Nonlinear Control doi: 10.1002/rnc.1245 – volume: 96 start-page: 973 issue: 29 year: 1954 ident: 10.1016/j.conengprac.2016.04.013_bib8 article-title: Lateral forces on rolling pneumatic tires publication-title: Zeitschrift VDI – volume: 28 start-page: 933 issue: 8 year: 2009 ident: 10.1016/j.conengprac.2016.04.013_bib14 article-title: Planning long dynamically feasible maneuvers for autonomous vehicles publication-title: The International Journal of Robotics Research doi: 10.1177/0278364909340445 – year: 2002 ident: 10.1016/j.conengprac.2016.04.013_bib18 – volume: 29 start-page: 485 issue: 5 year: 2010 ident: 10.1016/j.conengprac.2016.04.013_bib4 article-title: Path planning for autonomous vehicles in unknown semi-structured environments publication-title: The International Journal of Robotics Research doi: 10.1177/0278364909359210 – volume: 23 start-page: 661 issue: 9 year: 2006 ident: 10.1016/j.conengprac.2016.04.013_bib20 article-title: Stanley publication-title: Journal of Field Robotics doi: 10.1002/rob.20147 – year: 1997 ident: 10.1016/j.conengprac.2016.04.013_bib10 – volume: 25 start-page: 808 issue: 10 year: 2008 ident: 10.1016/j.conengprac.2016.04.013_bib16 article-title: A perspective on emerging automotive safety applications, derived from lessons learned through participation in the darpa grand challenges publication-title: Journal of Field Robotics doi: 10.1002/rob.20264 – volume: 18 start-page: 896 issue: 4 year: 2010 ident: 10.1016/j.conengprac.2016.04.013_bib11 article-title: Estimation of tire slip angle and friction limits using steering torque publication-title: IEEE Transactions on Control Systems Technology doi: 10.1109/TCST.2009.2031099 – volume: 21 start-page: 1258 issue: 4 year: 2013 ident: 10.1016/j.conengprac.2016.04.013_bib1 article-title: Model predictive control for vehicle stabilization at the limits of handling publication-title: IEEE Transactions on Control Systems Technology doi: 10.1109/TCST.2012.2200826 – volume: 7 start-page: 831 issue: 1 year: 2013 ident: 10.1016/j.conengprac.2016.04.013_bib5 article-title: Safe driving envelopes for shared control of ground vehicles publication-title: Advances in Automotive Control – volume: 25 start-page: 727 issue: 10 year: 2008 ident: 10.1016/j.conengprac.2016.04.013_bib13 article-title: A perception-driven autonomous urban vehicle publication-title: Journal of Field Robotics doi: 10.1002/rob.20262 – volume: 13 start-page: 1 issue: 1 year: 2012 ident: 10.1016/j.conengprac.2016.04.013_bib15 article-title: Cvxgen publication-title: Optimization and Engineering doi: 10.1007/s11081-011-9176-9 – ident: 10.1016/j.conengprac.2016.04.013_bib6 doi: 10.1109/ACC.2014.6859116 – volume: 3 start-page: 265 issue: 2 year: 2005 ident: 10.1016/j.conengprac.2016.04.013_bib2 article-title: Mpc-based approach to active steering for autonomous vehicle systems publication-title: International Journal of Vehicle Autonomous Systems doi: 10.1504/IJVAS.2005.008237 – ident: 10.1016/j.conengprac.2016.04.013_bib3 – volume: 10 start-page: 271 issue: 4 year: 2012 ident: 10.1016/j.conengprac.2016.04.013_bib12 article-title: Autonomous vehicle control at the limits of handling publication-title: International Journal of Vehicle Autonomous Systems doi: 10.1504/IJVAS.2012.051270 |
| SSID | ssj0016991 |
| Score | 2.6174786 |
| Snippet | One approach to motion control of autonomous vehicles is to divide control between path planning and path tracking. This paper introduces an alternative... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 307 |
| SubjectTerms | Autonomous vehicles First-order hold Model predictive control Obstacle avoidance Path tracking Vehicle stability |
| Title | Safe driving envelopes for path tracking in autonomous vehicles |
| URI | https://dx.doi.org/10.1016/j.conengprac.2016.04.013 |
| Volume | 61 |
| WOSCitedRecordID | wos000399628600027&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 customDbUrl: eissn: 1873-6939 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0016991 issn: 0967-0661 databaseCode: AIEXJ dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1LS-RAEG4G9aCHZdcH6j7ogzeJZNJ5sicRF_UgCyrMLaQ71TgqzRBnBm_-9a1KdyezKvgALyET6J506kt1deerrxjb03WW4yycB7lWRUAlCgMZJ2EgRUXhgNKiVm2xiez8PB-Nir-DwaPPhZnfZcbkDw_F5FNNjdfQ2JQ6-w5zd53iBTxHo-MRzY7HNxn-otKwXzfjdqcATMsJglZ1gURUr6kohLp1mSzVbEpJDUSDncN1y5BbjFaPHI8detHCLq3q2TreVQ7vADEzTsvTfmPwkXuDQa9Z4Jd1BCBoauuyzg6c5IFHrtuUwImu57K43cWUWHVWZ907WvfLekphi926SVfYhMtn_txuLdygOQwOlUZIbLy0Vae1Oaz_S2g_mdo6wqHnst2UfU8l9VSGcRlS1ePlKEsKdIvLh6fHo7PuQ1Ra2KKLfjyODGYpgi_f1csRzkLUcvmVfXHLDX5oYfKNDcCss7UFEcoNXK4hYLgDDO8AwxEwnADDPWD42PAeMNwDZpNd_Tm-PDoJXFmNQKEDnwaVyutcRqGO8P2sk6EcZqHUkKkqq9JhrgCjfIgSlRQYPqqYRk2rzATCAkSohNhiSwZHvs04CFmnUZWGAFGstKpSSQt4XUgtQOp4h2X-UZTKac5T6ZO78jWD7LBh13JidVfe0Oa3f9qlix9tXFginF5tvfuBf_zOVnv0_2BL02YGP9mKmk_H980vh6V_DuuaqA |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Safe+driving+envelopes+for+path+tracking+in+autonomous+vehicles&rft.jtitle=Control+engineering+practice&rft.au=Brown%2C+Matthew&rft.au=Funke%2C+Joseph&rft.au=Erlien%2C+Stephen&rft.au=Gerdes%2C+J.+Christian&rft.date=2017-04-01&rft.issn=0967-0661&rft.volume=61&rft.spage=307&rft.epage=316&rft_id=info:doi/10.1016%2Fj.conengprac.2016.04.013&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_conengprac_2016_04_013 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0967-0661&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0967-0661&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0967-0661&client=summon |