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Model-Based Threat ...
Model-Based Threat Assessment for Lane Guidance Systems
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- Ali, Mohammad, 1982 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Sjöberg, Jonas, 1964 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- ISBN 9781457700804
- 2011
- 2011
- Engelska.
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Ingår i: American Control Conference. - 0743-1619. - 9781457700804 ; , s. 4586-4591
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Abstract
Ämnesord
Stäng
- 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 “safedriving”. 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 analysisand 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
Nyckelord
- Threat Assessment
- Decision Making
- Invariant Set Theory
- Semi-Autonomous Vehicles
- Active Safety.
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
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