Operating system

Collision

Graph

Paleontology

Artificial intelligence

Model predictive control

Mobile robot

Controller (irrigation)

Shortest path problem

Pathfinding

Control (management)

CarSim

Collision avoidance system

Path (computing)

Context (archaeology)

MATLAB

Collision avoidance

Computer network

Computer security

Computer science

Simulation

Agronomy

Obstacle avoidance

Real-time computing

Theoretical computer science

Motion planning

Biology

Robot

IEEE Robotics and Automation Letters

Existing potential functions (PFs) utilized in autonomous vehicles mainly focus on solving the path-planning problems in some conventional driving scenarios; thus, their performance may not be satisfactory in the context of emergency obstacle avoidance. Therefore, we propose a novel model predictive path-planning controller (MPPC) combined with PFs to handle complex traffic scenarios (e.g., emergency avoidance when a sudden accident occurs). Specifically, to enhance the safety of the PFs, we developed an MPPC to handle an emergency case with a sigmoid-based safe passage embedded in the MPC constraints (SPMPC) with a specific triggering analysis algorithm on monitoring traffic emergencies. The presented PF-SPMPC algorithm was compiled in a comparative simulation study using MATLAB/Simulink and CarSim. The algorithm outperformed the latest PF-MPC approach to eliminate the severe tire oscillations and guarantee autonomous driving safety when handling the traffic emergency avoidance scenario.

Model Predictive Path-Planning Controller With Potential Function for Emergency Collision Avoidance on Highway Driving