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.
https://hal.inria.fr/hal-03193874 Contributor : Pierre-Brice WieberConnect in order to contact the contributor Submitted on : Friday, April 9, 2021 - 10:27:35 AM Last modification on : Friday, February 4, 2022 - 3:09:17 AM Long-term archiving on: : Monday, July 12, 2021 - 9:21:04 AM
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⟩