Comfortable and Safe Decelerations for a Self-Driving Transit Bus - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year :

Comfortable and Safe Decelerations for a Self-Driving Transit Bus

Abstract

We propose a combination of Model Predictive Control and Lexicographic Programming to address complex scenarios with conflicting goals related to various aspects of comfort and safety of passengers in a transit bus, generating different deceleration profiles depending on the speed of the bus and distance to obstacles, validated in experiments with a standard transit bus equipped with self-driving capabilities.
Fichier principal
Vignette du fichier
Mifsud2021ICRA-withappendix.pdf (1.31 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-03193874 , version 1 (09-04-2021)

Identifiers

  • HAL Id : hal-03193874 , version 1

Cite

Alexis Mifsud, Matteo Ciocca, Pierre-Brice Wieber. Comfortable and Safe Decelerations for a Self-Driving Transit Bus. ICRA 2021 - IEEE International Conference on Robotics & Automation, May 2021, Xi'an, China. pp.1-7. ⟨hal-03193874⟩
88 View
547 Download

Share

Gmail Facebook Twitter LinkedIn More