Synthesis of provably correct controllers for autonomous vehicles in urban environments
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itsc11.pdf
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394.73 KB
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Author(s)
Wongpiromsarn, Tichakorn
Karaman, Sertac
Frazzoli, Emilio
Date Issued
October 2011
Journal
Proceedings of the 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Wongpiromsarn, Tichakorn, Sertac Karaman, and Emilio Frazzoli. “Synthesis of provably correct controllers for autonomous vehicles in urban environments.” In 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), 1168-1173. Institute of Electrical and Electronics Engineers, 2011.
Version
Author's final manuscript
Abstract
This paper considers automatic synthesis of provably correct controllers for autonomous vehicles operating in an urban environment populated with static obstacles and live traffic. We express traffic rules such as collision avoidance, vehicle separation, speed limit, lane following, passing, merging and intersection precedence requirements in a formal specification language. Embedded control software synthesis is then applied to generate a controller that ensures that the vehicle obeys this set of traffic rules in any road and traffic conditions that satisfy certain assumptions.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/ITSC.2011.6083056
