论文标题
与我同行：一种针对半自动，远程手术的公路车辆的预测性，潜在的基于现场的控制方法
Steer with Me: A Predictive, Potential Field-Based Control Approach for Semi-Autonomous, Teleoperated Road Vehicles
论文作者
论文摘要
自动驾驶是即将到来的交通安全技术最有前途的驾驶之一。今天，自动驾驶汽车的原型已经在公共街道上进行了测试。但是，尽管目前的原型证明了真正无人驾驶汽车的可行性，但边缘案件仍然存在，这可能会落后于人类操作员。远程处理驾驶是一种解决方案，它可以使人通过移动无线电网络远程控制车辆。因此，卸下车载驱动器将使当前的自主技术能够进一步发展成为真正无人驾驶系统。本文提出了一种新的模型预测转向控制方案，该方案专为半自治的遥控道路车辆而设计。控制器能够接收远程操纵器转向命令，并且在潜在的碰撞情况下，会自动纠正这些命令。使用潜在字段将避免碰撞的避免纳入设计中。成本函数中的术语有助于自然动作，并且最大潜力的限制使车辆与障碍物的安全距离保持距离。本文还建议使用高阶椭圆形作为在紧密驾驶场景中准确建模矩形障碍物的方法。仿真结果支持拟议方法的有效性。
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly driverless cars, edge cases remain which necessitate falling back on human operators. Teleoperated driving is one solution that would allow a human to remotely control a vehicle via mobile radio networks. Removing in-vehicle drivers would thus allow current autonomous technologies to further progress towards becoming genuinely driverless systems. This paper proposes a new model predictive steering control scheme, specifically designed for semi-autonomous, teleoperated road vehicles. The controller is capable of receiving teleoperator steering commands and, in the case of potential collisions, automatically correcting these commands. Collision avoidance is incorporated into the design using potential fields. A term in the cost function facilitates natural maneuvers, and constraints on the maximum potential keep the vehicle at safe distances from obstacles. This paper also proposes the use of high-order ellipses as a method to accurately model rectangular obstacles in tight driving scenarios. Simulation results support the effectiveness of the proposed approach.
