Name
Abstract | ||
|---|---|---|
We propose two model-based threat assessment methods for semi-autonomous vehicles, i.e., human-driven vehicles with autonomous driving capabilities. Based on information about the surrounding environment, we introduce a set of constraints on the vehicle states, which are satisfied under “safe” driving conditions. Then, we formulate the threat assessment problem as a constraint satisfaction problem. Vehicle and driver mathematical models are used to predict future constraint violation, indicating the possibility of accident or loss of vehicle control, hence, the need to assist the driver. The two proposed methods differ in the models used to predict vehicle motion within the surrounding environment. We demonstrate the proposed methods in a roadway departure application and validate them through experimental data. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/TITS.2011.2158210 | IEEE Transactions on Intelligent Transportation Systems |
Keywords | Field | DocType |
driver information systems,reachability analysis,set theory,vehicles,constraint satisfaction problem,predictive threat assessment,reachability analysis,roadway departure application,semi-autonomous vehicles,set invariance theory,Active safety,decision making,invariant set theory,reachability analysis,semi-autonomous vehicles,threat assessment | Set theory,Invariant (physics),Simulation,Decision support system,Constraint satisfaction problem,Reachability,Threat assessment,Mathematical model,Active safety,Mathematics | Journal |
Volume | Issue | ISSN |
12 | 4 | 1524-9050 |
Citations | PageRank | References |
25 | 1.93 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Paolo Falcone | 1 | 217 | 24.97 |
| Mohammad Ali | 2 | 37 | 5.12 |
| Jonas Sjöberg | 3 | 628 | 67.21 |