Development and experimental validation of a semi-autonomous cooperative active safety system
Author(s)Verma, Rajeev; Del Vecchio, Domitilla
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In this paper, the problem of collision avoidance between two vehicles is considered, in which one vehicle is autonomous and the other one is human-driven. This problem arises in cooperative active safety systems at traffic intersections, mergings, and roundabouts, in which some vehicles are equipped with on-board communication and automatic control, while others are not capable of communicating and are human-driven. We model the human driving behavior through a hybrid automaton, whose current mode is determined by the driver's decisions, and solve the problem as a safety control problem for hybrid systems with imperfect state information. The experimental results demonstrate that our solution is substantially less conservative than solutions employing worst-case design.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
Institute of Electrical and Electronics Engineers
Verma, Rajeev, and Domitilla Del Vecchio. “Development and Experimental Validation of a Semi-autonomous Cooperative Active Safety System.” 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Orlando, FL, USA, December 12-15, 2011, IEEE, 2011. 4849–4854. CrossRef. Web.
Author's final manuscript
INSPEC Accession Number: 12590445