Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties
Paper i 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

Författare

Mohammad Ali

Signaler och system, System- och reglerteknik, Mekatronik

Paolo Falcone

Signaler och system, System- och reglerteknik, Mekatronik

Jonas Sjöberg

Signaler och system, System- och reglerteknik, Mekatronik

Proceedings of the IEEE Conference on Decision and Control

01912216 (ISSN)

6822-6827 6161394

Styrkeområden

Informations- och kommunikationsteknik

Transport

Ämneskategorier

Reglerteknik

Signalbehandling

DOI

10.1109/CDC.2011.6161394

ISBN

978-161284800-6