Obstacle Avoidance Path Planning based on Output Constrained Model Predictive Control

  • Ji-Chang Kim
  • Dong-Sung Pae
  • Myo-Taeg LimEmail author


Image processing and control technologies have been widely studied and autonomous vehicles have become an active research area. For autonomous driving, it is essential to generate a safe obstacle avoidance path considering the surrounding environment. This paper devised an algorithm based on a real-time output constrained model predictive control for obstacle avoidance path planning in high speed driving situations. The proposed algorithm was compared with the normal model predictive control algorithm by simulation, including operation times to verify robustness for high speed driving situations. We used the ISO 2631-1 comfort level standard to quantify driver comfort fo r both cases.


Comfort level model predictive control obstacle avoidance path planning vehicle dynamics 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.Department of Automotive ConvergenceKorea UniversitySungbuk-gu, SeoulKorea
  2. 2.Department of Electrical EngineeringKorea UniversitySungbuk-gu, SeoulKorea

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