Scenario Model Predictive Control for Lane Change Assistance and Autonomous Driving on Highways

作者：Cesari Gianluca^*; Schildbach Georg; Carvalho Ashwin; Borrelli Francesco

来源：IEEE Intelligent Transportation Systems Magazine, 2017, 9(3): 23-35.

DOI：10.1109/MITS.2017.2709782

This paper presents a novel design of control algorithms for lane change assistance and autonomous driving on highways, based on recent results in Scenario Model Predictive Control (SCMPC). The basic idea is to account for the uncertainty in the traffic environment by a small number of future scenarios, which is intuitive and computationally efficient. These scenarios can be generated by any model-based or data-based approach. The paper discusses the SCMPC design procedure, which is simple and can be generalized to other control challenges in automated driving, as well as the controller's robustness properties. Experimental results demonstrate the effectiveness of the SCMPC algorithm and its performance in lane change situations on highways.

• 出版日期2017
• 单位ETH, Zurich