Design and implementation of safety control for a class of stochastic order preserving systems with application to collision avoidance near intersections

Abstract

In this thesis, we have designed and implemented a safety control system for collision avoidance near intersections. We have solved the corresponding control problems for a general class of systems that also includes the scenario of the two consecutive vehicles approaching an intersection, which leads to the design of the collision avoidance system. We have gathered the data of behavior of drivers as they approach intersections and have built a stochastic model for that through an optimization problem. The model generates a non-deterministic profile for acceleration of a vehicle which is not equipped with the collision avoidance system and it is used to estimate and predict future stopping profiles of the vehicle in order to take the right control action for avoidance or mitigation of accidents. First we have verified the consistency of the theoretical model with its expected behavior after implementation and then we have implemented the control system on the Prius vehicle in collaboration with TTC (Toyota Technical Center), Ann Arbor, Michigan.