Publication

This paper presents a semi-autonomous controller for integrated design of an active safety system. A model of the driver’s nominal behavior is estimated based on observed behavior. A nonlinear model of the vehicle is developed that utilizes a coordinate transformation which allows for obstacles and road bounds to be modeled as constraints while still allowing the controller full steering and braking authority. A Nonlinear Model Predictive Controller (NMPC) is designed that utilizes the vehicle and driver models to predict a future threat of collision or roadway departure. Simulations are presented which demonstrate the ability of the suggested approach to successfully avoid multiple obstacles while staying safely within the road bounds.