Model-Based Threat Assessment for Lane Guidance Systems
Paper in proceedings, 2011

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 “safe driving”. 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 analysis and 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.

Threat Assessment

Decision Making

Invariant Set Theory

Semi-Autonomous Vehicles

Active Safety.

Author

Mohammad Ali

Chalmers, Signals and Systems, Systems and control, Mechatronics

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control, Mechatronics

American Control Conference

0743-1619 (ISSN)

4586-4591

Areas of Advance

Information and Communication Technology

Transport

Subject Categories

Control Engineering

Signal Processing

ISBN

978-145770080-4

More information

Created

10/7/2017