Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties
Paper in proceeding, 2011

In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver mathematical model and show how these can be accounted for in the threat assessment. The novelty of the proposed methods lies in the inclusion of the driver model uncertainties in the threat assessment problem formulation and in their validation through experimental data. We show how different ways of accounting for the model uncertainties impact the capabilities and the effectiveness of the proposed algorithms in detecting hazardous driving situations.

Semi-autonomous vehicles

set invariance theory

reachability analysis

system theory

threat assessment

Author

Mohammad Ali

Chalmers, Signals and Systems, Systems and control

Paolo Falcone

Chalmers, Signals and Systems, Systems and control

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

6822-6827 6161394
978-161284800-6 (ISBN)

Areas of Advance

Information and Communication Technology

Transport

Subject Categories

Control Engineering

Signal Processing

DOI

10.1109/CDC.2011.6161394

ISBN

978-161284800-6

More information

Created

10/7/2017