Setpoint scheduling for autonomous vehicle controllers

This paper considers the problem of controlling an autonomous vehicle to arrive at a specific position on a road at a given time and velocity. This ability is particularly useful for a recently introduced autonomous intersection management protocol, called AIM, which has been shown to lead to lower...

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Bibliographic Details
Main Authors: Tsz-Chiu Au, Quinlan, M., Stone, P.
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Mobile robots
Optimization
Roads
Schedules
Smoothing methods
Vehicles
Online Access:Request full text
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Summary:This paper considers the problem of controlling an autonomous vehicle to arrive at a specific position on a road at a given time and velocity. This ability is particularly useful for a recently introduced autonomous intersection management protocol, called AIM, which has been shown to lead to lower delays than traffic signals and stop signs. Specifically, we introduce a setpoint scheduling algorithm for generating setpoints for the PID controllers for the brake and throttle actuators of an autonomous vehicle. The algorithm constructs a feasible setpoint schedule such that the vehicle arrives at the position at the correct time and velocity. Our experimental results show that the algorithm outperforms a heuristic-based setpoint scheduler that does not provide any guarantee about the arrival time and velocity.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6225232