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Design and Formal V...
Design and Formal Verification of a Safe Stop Supervisor for an Automated Vehicle
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- Krook, Jonas, 1986 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology,Zenuity, Gothenburg, Sweden.;Chalmers, Gothenburg, Sweden.
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- Svensson, Lars, 1989- (författare)
- KTH,Mekatronik,Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH)
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- Li, Yuchao (författare)
- KTH,Reglerteknik,Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH)
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- Feng, Lei (författare)
- KTH,Mekatronik,Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH)
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- Fabian, Martin, 1960 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology,Chalmers, Gothenburg, Sweden.
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Chalmers tekniska högskola Zenuity, Gothenburg, Sweden;Chalmers, Gothenburg, Sweden. (creator_code:org_t)
- ISBN 9781538660263
- Institute of Electrical and Electronics Engineers (IEEE), 2019
- 2019
- Engelska.
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - : Institute of Electrical and Electronics Engineers (IEEE). - 1050-4729. - 9781538660263 ; 2019-May, s. 5607-5613
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https://research.cha... (primary) (free)
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https://research.cha...
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https://doi.org/10.1...
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https://research.cha...
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https://research.cha...
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https://urn.kb.se/re...
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Abstract
Ämnesord
Stäng
- Autonomous vehicles apply pertinent planning and control algorithms under different driving conditions. The mode switch between these algorithms should also be autonomous. On top of the nominal planners, a safe fallback routine is needed to stop the vehicle at a safe position if nominal operational conditions are violated, such as for a system failure. This paper describes the design and formal verification of a supervisor to manage all requirements for mode switching between nominal planners, and additional requirements for switching to a safe stop trajectory planner that acts as the fallback routine. The supervisor is designed via a model-based approach and its abstraction is formally verified by model checking. The supervisor is implemented and integrated with the Research Concept Vehicle, an experimental research and demonstration vehicle developed at the KTH Royal Institute of Technology. Simulations and experiments show that the vehicle is able to autonomously drive in a safe manner between two parking lots and can successfully come to a safe stop upon GPS sensor failure.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Samhällsbyggnadsteknik -- Transportteknik och logistik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Civil Engineering -- Transport Systems and Logistics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Inbäddad systemteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Embedded Systems (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
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