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This paper presents a new controller for prevention of unintended roadway departures using model predictive control (MPC). The uncertainty with the driver's behavior is taken into account as the Gaussian disturbance. Correspondingly, we impose a lower bound on the probability of the vehicle remaining within the lane. Using current information of the vehicle and predicted steering of the driver, a...
This paper presents a novel predictive control approach based on the unscented transformation with recursive feasibility analysis and an experimental validation for lane keeping of semi-autonomous vehicles. The optimization problem to be solved is nonlinear with stochastic disturbances and probability constraints on states. The unscented transformation is utilized to calculate the propagation of disturbed...
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