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

Research and Teaching Output of the MIT Community

Show simple item record Hoehener, Daniel Huang, Geng Del Vecchio, Domitilla 2016-03-04T13:42:36Z 2016-03-04T13:42:36Z 2016-03-04
dc.description.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. en_US
dc.language.iso en_US en_US
dc.subject Formal safety verification en_US
dc.subject Provably correct design en_US
dc.subject Lane departure assist system en_US
dc.subject Lane keeping system en_US
dc.title Design of a lane departure driver-assist system under safety specifications en_US
dc.type Article en_US

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