Set-Based Threat Assessment in Semi-Autonomous Vehicles
Paper i proceeding, 2010
We present a model based threat assessment method for semi-autonomous vehicles.
Based on the assumption that information about the surrounding environment is available over
a future finite time horizon, we first introduce a set of constraints on the vehicle states, which are
satisfied under “safe” driving conditions. Then, we use vehicle and driver mathematical models
in order to predict future constraints violation, indicating the possibility of accident or loss of
We demonstrate the proposed method in a roadway departure application, and validate it
through experimental data.
Invariant Sets Theory.