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Model-Based Threat Assessment for Lane Guidance Systems

Mohammad Ali (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
American Control Conference, San Francisco, CA, USA, June 29-July 01, 2011 (07431619). p. 4586-4591. (2011)
[Konferensbidrag, refereegranskat]

This paper considers a threat assessment problem in a lane guidance application for semi-autonomous vehicles. In particular, in order to issue an autonomous assisting intervention, we assess the vehicle’s ability to safely travel along a path subject to limitations arising from the vehicle’s dynamics and the driver’s ability. We first introduce a set of constraints describing “safe driving”. For the specific lane guidance application considered in this paper, the constraints are set by the lane boundaries and the vehicle’s stability limits. We then formulate the threat assessment problem as a constraints satisfaction problem over a finite time horizon, solved by resorting to reachabililty analysis and invariant set theory. Validation with experimental data demonstrates the capability of the proposed threat assessment method of predicting vehicle instability or crossing of the lane boundaries.

Nyckelord: Invariant Set Theory, Semi-Autonomous Vehicles, Threat Assessment, Decision Making, Active Safety.



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Denna post skapades 2011-02-08. Senast ändrad 2017-06-28.
CPL Pubid: 136612

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Informations- och kommunikationsteknik
Transport
Reglerteknik
Signalbehandling

Chalmers infrastruktur