Robust semi-autonomous vehicle control for roadway departure and obstacle avoidance

This paper presents the design of a robust active safety system for prevention of unintended collisions and roadway departures. The safety system shares control with the driver and corrects the driver's steering and braking action only if there is a potential risk. We formulate the safety problem as constrained optimization problem using uncertain evolution set based MPC. In the scheme, we compute the set of possible trajectories with uncertain driver model and issue minimal steering and (or) braking action, only if necessary, to keep the set in safety constraints. Human in loop simulation experiments were conducted, the results demonstrate the robustness of proposed controller to uncertain input from drivers.