Model predictive control based trajectory generation for autonomous vehicles — An architectural approach

Abstract

Abstract-Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often missing are general-purpose path-or trajectory planners which are not designed for a specific purpose. In this paper we look at path-and trajectory planning from an architectural point of view and show how model predictive frameworks can contribute to generalized pathand trajectory generation approaches for generating safe trajectories even in cases of system failures.c 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Investigating Functional Redundancies in the Context of Vehicle Automation – A Trajectory Tracking Perspective

“…This is highly relevant for a statement whether functional redundancies can be used. In this regard, combining trajectory tracking with fault-tolerant trajectory generation as proposed by Nolte et al [4] is the first step. The last thread is implementing the control approach into our experimental vehicle MOBILE [33] in order to do real-world experiments.…”

“…In this case, the controller primarily applies a negative torque of the same order to the other wheel of the same side of the vehicle. In consequence, also degradation D.4 representing zero longitudinal slip is easily compensated (4).…”

“…The trajectory tracking keeps the deviation from the reference trajectory in terms of a temporal sequence of reference poses (position plus heading) in defined boundaries. Still on the same level, trajectory generation prevents non-drivable trajectories by re-planning the reference trajectory under consideration of the actuator degradation [4]. On tactical level, the targeted vehicle behavior must adapt to the degradation, for instance *This work is part of the DFG Research Unit Controlling Concurrent Change, funding number FOR 1800.…”

Representing the Unknown – Impact of Uncertainty on the Interaction between Decision Making and Trajectory Generation

“…View on the tactical (guidance block) and stabilization level in a functional architecture with blocks contributing to decision making and motion planning (cf. [17]).…”

A System's Perspective Towards an Architecture Framework for Safe Automated Vehicles

“…Fig. 4 shows a part of our functional system architecture based on the initial work of Maurer [18] and Matthaei and Maurer [35] and a refinement for the use of a model predictive control approach for trajectory planning of Nolte et al [36]. Since functional architectures are a very common view on systems, we briefly want to introduce the "visible" aspects of a self-perceiving safety concept.…”