We are experiencing minor difficulties with our submission forms, which we are working to resolve. If you have any issues while submitting items, please contact us at dspace-lib@mit.edu.

Design of a lane departure driver-assist system under safety specifications

Thumbnail Image
Download
Name

HoehenerEtAl_DCD16_Appendix.pdf

Description
Detailed proofs of the main results
Size

272.22 KB

Format

Adobe PDF

Checksum (MD5)

3d835aa29f1429eb3ae40297fe2fb7a8

Thumbnail Image
Download
Name

HoehenerEtAlCDC16.pdf

Description
Main article
Size

820.07 KB

Format

Adobe PDF

Checksum (MD5)

8d517c8fe2db158ac39339cf3613ec82

Author(s)
Hoehener, Daniel
•
Huang, Geng
•
Del Vecchio, Domitilla
Date Issued
March 4, 2016
Abstract
We use a controlled invariance approach to design a semi-autonomous lane departure assist system that is guaranteed to keep the vehicle in the lane. The controlled invariant safe set is the set of system states from which an input exists that can keep the vehicle in the lane. First we provide theoretical conditions under which the controlled invariant safe set has a simple characterization that can be quickly computed in real-time. We then use this characterization to derive a feedback strategy that keeps the vehicle in the lane and overrides the driver only if he/she could otherwise force a future lane departure. We also provide a detailed description of the above mentioned conditions, including algorithmic approaches that allow to verify whether these conditions are satisfied.
Subjects
Formal safety verification
Provably correct design
Lane departure assist system
Lane keeping system
Persistent DSpace Link
PrivacyPermissionsAccessibilityContact us
Notify us about copyright concerns.