Comfortable and Safe Decelerations for a Self-Driving Transit Bus

Alexis Mifsud (1) , Matteo Ciocca (1) , Pierre-Brice Wieber (1)

1 Inria Grenoble - Rhône-Alpes

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.

Domaines: Automatique / Robotique; Optimisation et contrôle [math.OC]; Systèmes et contrôle [cs.SY]

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⟩