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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.
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https://hal.inria.fr/hal-03193874
Contributor : Pierre-Brice Wieber Connect 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

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  • HAL Id : hal-03193874, version 1

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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⟩

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