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Set-Based Threat Assessment in Semi-Autonomous Vehicles

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Mohammad Ali (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
IFAC Symposium Advances in Automotive Control, Munich, Germany, 12 - 14 July 2010 (2010)
[Konferensbidrag, refereegranskat]

We present a model based threat assessment method for semi-autonomous vehicles. Based on the assumption that information about the surrounding environment is available over a future finite time horizon, we first introduce a set of constraints on the vehicle states, which are satisfied under “safe” driving conditions. Then, we use vehicle and driver mathematical models in order to predict future constraints violation, indicating the possibility of accident or loss of vehicle control. We demonstrate the proposed method in a roadway departure application, and validate it through experimental data.

Nyckelord: Threat Assessment, Active Safety, Semi-Autonomous Vehicles, Invariant Sets Theory.



Denna post skapades 2010-04-08.
CPL Pubid: 119370

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Datorteknik
Reglerteknik
Farkostteknik

Chalmers infrastruktur