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Integrated Stabilization and Collisi...

Brown, Matthew.

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Integrated Stabilization and Collision Avoidance for Automated Vehicles in Emergency Scenarios.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Integrated Stabilization and Collision Avoidance for Automated Vehicles in Emergency Scenarios./
Author:	Brown, Matthew.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
Description:	98 p.
Notes:	Source: Dissertations Abstracts International, Volume: 82-05, Section: B.
Contained By:	Dissertations Abstracts International82-05B.
Subject:	Automotive engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28241684
ISBN:	9798684640568

Integrated Stabilization and Collision Avoidance for Automated Vehicles in Emergency Scenarios.
Brown, Matthew.

Integrated Stabilization and Collision Avoidance for Automated Vehicles in Emergency Scenarios. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 98 p.

Source: Dissertations Abstracts International, Volume: 82-05, Section: B.

Thesis (Ph.D.)--Stanford University, 2020.

This item must not be sold to any third party vendors.

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.

ISBN: 9798684640568Subjects--Topical Terms:

2181195
Automotive engineering.
Subjects--Index Terms:

Collision avoidance

Integrated Stabilization and Collision Avoidance for Automated Vehicles in Emergency Scenarios.
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300 $a 98 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-05, Section: B.
500 $a Includes supplementary digital materials.
500 $a Advisor: Gerdes, J. Christian; Kochenderfer, Mykel J.;Pavone, Marco.
502 $a Thesis (Ph.D.)--Stanford University, 2020.
506 $a This item must not be sold to any third party vendors.
520 $a 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.
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650 4 $a Automotive engineering. $3 2181195
650 4 $a Artificial intelligence. $3 516317
650 4 $a Electrical engineering. $3 649834
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
653 $a Collision avoidance
653 $a Automated vehicles
653 $a Lateral velocity states
653 $a Stability sensitivity
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