Mode Switching Control Using Lane Keeping Assist and Waypoints Tracking for Autonomous Driving in a City Environment

This paper proposes a mode switching supervisory controller for autonomous vehicles. The supervisory controller selects the most appropriate controller based on safety constraints and on the vehicle location with respect to junctions. Autonomous steering, throttle and deceleration control inputs are used to perform variable speed lane keeping assist, standard or emergency braking and to manage junctions, including roundabouts. Adaptive model predictive control with lane keeping assist is performed on the main roads and a linear pure pursuit inspired controller is applied using waypoints at road junctions where lane keeping assist sensors present a safety risk. A multi-stage rule based autonomous braking algorithm performs stop, restart and emergency braking maneuvers. The controllers are implemented in MATLAB® and Simulink™ and are demonstrated using the Automatic Driving Toolbox™ environment. Numerical simulations of autonomous driving scenarios demonstrate the efficiency of the lane keeping assist mode on roads with curvature and the ability to accurately track waypoints at cross intersections and roundabouts using a simpler pure pursuit inspired mode. The ego vehicle also autonomously stops in time at signaled intersections or to avoid collision with other road users.

• Record URL:
  https://doi.org/10.1177/03611981211056636
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/03611981
• Supplemental Notes:
  • Nadjim Horri https://orcid.org/0000-0002-5239-4975 © National Academy of Sciences: Transportation Research Board 2021.
• Authors:
  • Horri, Nadjim
  • 0000-0002-5239-4975
  • Haas, Olivier
  • 0000-0002-4665-2894
  • Wang, Sheng
  • Foo, Mathias
  • 0000-0003-1400-2659
  • Fernandez, Manuel Silverio
• Publication Date: 2022-3

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 712-727
• Serial:
  • Transportation Research Record: Journal of the Transportation Research Board
  • Volume: 2676
  • Issue Number: 3
  • Publisher: Sage Publications, Incorporated
  • ISSN: 0361-1981
  • EISSN: 2169-4052
  • Serial URL: http://journals.sagepub.com/home/trr

Subject/Index Terms

• TRT Terms: Adaptive control; Autonomous vehicles; Lane keeping; Simulation; Urban areas
• Identifier Terms: Matlab/SIMULINK (Computer program)
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01788080
• Record Type: Publication
• Files: TRIS, TRB, ATRI
• Created Date: Nov 16 2021 10:19AM