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Verification of Collision Avoidance Systems using Reachability Analysis

Jonas Nilsson (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik) ; Anders Ödblom
19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24-29 August 2014 (1474-6670). Vol. 19 (2014), p. 10676-10681.
[Konferensbidrag, refereegranskat]

This paper presents a method for formal verification of automotive collision avoidance systems. Using viability theory and reachability analysis, we define when the system should intervene, i.e. the unsafe set, and when the system should not intervene, i.e. the safe set. Given these sets, we formulate the problem of verifying that a given system does not make incorrect decisions as an optimization problem. The method is demonstrated on a collision avoidance system example and, given the models used and absence of measurements errors, we show that the system does not make incorrect decisions. Furthermore, we describe and demonstrate how to evaluate the robustness to measurement errors, using the proposed framework.



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Denna post skapades 2015-01-19. Senast ändrad 2016-05-23.
CPL Pubid: 210976

 

Institutioner (Chalmers)

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

Ämnesområden

Transport
Reglerteknik

Chalmers infrastruktur