Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles

Theodor Westny, Björn Olofsson, Erik Frisk

Research output: Contribution to conferenceOther

Abstract

To study the effects of uncertainty in autonomous motion planning and control, an 8-DOF model of a tractor-semitrailer is implemented and analyzed. The implications of uncertainties in the model are then quantified and presented using sensitivity analysis and closed-loop simulations. The study shows that different model parameters are more or less critical depending on the investigated scenario. Using sampling-based closed-loop predictions, uncertainty bounds on state variable trajectories are determined. Our findings suggest the potential for the inclusion of our method within a robust predictive controller or as a driver-assistance system for rollover or lane departure warning.
Original languageEnglish
Publication statusPublished - 2022
EventAVEC'22 The 15th International Symposium on Advanced Vehicle Control - Kanagawa Institute of Technology (virtual), Kanagawa, Japan
Duration: 2022 Sept 122022 Sept 16

Conference

ConferenceAVEC'22 The 15th International Symposium on Advanced Vehicle Control
Country/TerritoryJapan
CityKanagawa
Period2022/09/122022/09/16

Subject classification (UKÄ)

  • Control Engineering

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