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Threat assessment for driver assistance systems using interval-based techniques

Esteban R. Gelso (Institutionen för signaler och system, Mekatronik) ; Mohammad Ali (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
IFAC Proceedings Volumes. 18th IFAC World Congress, Milano, 28 August - 2 September 2011 (1474-6670). Vol. 18 (2011), p. 9782-9787.
[Konferensbidrag, refereegranskat]

We present a threat assessment algorithm for driver assistance systems in which mathematical vehicle and driver models are used to explicitly account for the vehicle and driver behavior. For the application considered in this paper, requirements that the vehicle stays on the road while operating in a stable operating region are expressed as constraints on the vehicle states which need to be satisfied over a finite time horizon. The threat assessment problem is then formulated as a constraint satisfaction problem, solved through interval-based techniques considering bounded uncertainty in the measurements. Experimental results demonstrate the algorithms ability to detect unsafe operation in advance.

Nyckelord: Active Safety, Bounded Uncertainty, Constraint Satisfaction Problems, Intervals, Semi-Autonomous Vehicles

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Denna post skapades 2011-09-12. Senast ändrad 2012-11-06.
CPL Pubid: 146060


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik



Chalmers infrastruktur