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Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties

Mohammad Ali (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
Proceedings of the IEEE Conference on Decision and Control. 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL,12 - 15 December 2011 (0191-2216). p. 6822-6827. (2011)
[Konferensbidrag, refereegranskat]

In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver mathematical model and show how these can be accounted for in the threat assessment. The novelty of the proposed methods lies in the inclusion of the driver model uncertainties in the threat assessment problem formulation and in their validation through experimental data. We show how different ways of accounting for the model uncertainties impact the capabilities and the effectiveness of the proposed algorithms in detecting hazardous driving situations.

Nyckelord: Semi-autonomous vehicles, threat assessment, reachability analysis, set invariance theory, system theory



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Denna post skapades 2011-07-15. Senast ändrad 2013-06-07.
CPL Pubid: 143467

 

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