Integrated stabilization and collision avoidance for automated vehicles in emergency scenarios
Abstract/Contents
- Abstract
- As automated vehicles become more prevalent and capable, venturing out of research labs and onto public streets, they present an opportunity to further improve the safety of their passengers and other road users. This dissertation focuses on safety through the lenses of lateral stabilization and collision avoidance. First, a steering controller that integrates both of these responsibilities is developed, enabling the controller to deviate from a reference path to satisfy stabilization criteria while ensuring such deviations are made safely with respect to obstacles and road edges. Next, this concept is expanded to develop a controller that simultaneously plans lateral and longitudinal forces directly for the purposes of collision avoidance. Finally, the sensitivity of the stability of system to disturbances is analyzed, motivating a controller which models this sensitivity by propagating uncertain disturbances along a prediction horizon in the lateral velocity states. By minimizing this open-loop velocity uncertainty, the controller can plan and execute necessarily aggressive collision avoidance trajectories while reducing its sensitivity to modeling error.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2020; ©2020 |
| Publication date | 2020; 2020 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Brown, Matthew (Matthew J.) |
|---|---|
| Degree supervisor | Gerdes, J. Christian |
| Thesis advisor | Gerdes, J. Christian |
| Thesis advisor | Kochenderfer, Mykel J, 1980- |
| Thesis advisor | Pavone, Marco, 1980- |
| Degree committee member | Kochenderfer, Mykel J, 1980- |
| Degree committee member | Pavone, Marco, 1980- |
| Associated with | Stanford University, Department of Mechanical Engineering |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Matthew Brown. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis Ph.D. Stanford University 2020. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2020 by Matthew Brown
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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