Paper Info
Title
Model based controller synthesis using reachability analysis that guarantees the safety of autonomous vehicles in a convoy
Abstract
In this paper, an on-line model-based controller synthesis method using reachability analysis for convoying autonomous vehicles is proposed. At every time sample, the reachable occupation set of the vehicle under the physical constraints are computed. Then the maximal feasible control input sequence is obtained such that the reachable occupation set is not overlapped with the unsafe region defined by the predicted occupation set of the target vehicle. The proposed method is tested for a scenario where three vehicles are in a convoy and the fourth vehicle interferes with the formation by merging in. The simulation results show that the synthesized controller guarantees the safety of autonomous vehicles while also satisfying both state and input constraints.
Year
DOI
Venue
2012
10.1109/ICVES.2012.6294257
ICVES
Keywords
Field
DocType
control system synthesis,mobile robots,reachability analysis,road safety,vehicles,autonomous vehicles convoy,autonomous vehicles safety,model based controller synthesis,online model-based controller synthesis,algorithm design and analysis,vehicle dynamics
Control theory,Reachability,Control engineering,Engineering,Merge (version control),Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4673-0992-9
2
0.38
References 
Authors
4
2
Name
Order
Citations
PageRank
Jaeyong Park120.38
Ümit Özgüner21014166.59