2026-09-19T02:23:53Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1015432022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Domitilla Del Vecchio.
Huang, Geng, S.M. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2016-03-03T21:07:50Z
2016-03-03T21:07:50Z
2015
2015
http://hdl.handle.net/1721.1/101543
940562803
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 69-74).
In this thesis, I consider the problem of designing a collision avoidance system for the scenario in which two cars approach an intersection from perpendicular directions. One of the cars is a human driven vehicle, and the other one is a semi-autonomous vehicle, equipped with a driver-assist system. The driver-assist system should warn the driver of the semi-autonomous vehicle to brake or accelerate if potential dangers of collision are detected. Then, if the system detects that the driver disobeys the warning, the system can override the behavior of the driver to guarantee safety if necessary. A hybrid automaton model with hidden modes is used to solve the problem. A disturbance estimator is used to estimate the driver's reaction to the warning. Then, with the help of a mode estimator, the hybrid system with hidden modes is translated to a hybrid system with perfect state information. Finally, we generalize the solution for the application example to the solution of safety control problem for general hybrid system with hidden modes when the hybrid system satisfies some proposed constraints and assumptions.
by Geng Huang.
S.M.
74 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Computation of safety control for hybrid system with applications to intersection collision avoidance system
Thesis
application/pdf
false
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="839c28af-0ef2-45c2-b633-365251f9ded7">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Computation of safety control for hybrid system with applications to intersection collision avoidance system</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2015</PublicationDate>
<Authors>
<Author>
<DisplayName>Huang, Geng, S.M. Massachusetts Institute of Technology</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Mechanical Engineering.</Keyword>
<Abstract>In this thesis, I consider the problem of designing a collision avoidance system for the scenario in which two cars approach an intersection from perpendicular directions. One of the cars is a human driven vehicle, and the other one is a semi-autonomous vehicle, equipped with a driver-assist system. The driver-assist system should warn the driver of the semi-autonomous vehicle to brake or accelerate if potential dangers of collision are detected. Then, if the system detects that the driver disobeys the warning, the system can override the behavior of the driver to guarantee safety if necessary. A hybrid automaton model with hidden modes is used to solve the problem. A disturbance estimator is used to estimate the driver's reaction to the warning. Then, with the help of a mode estimator, the hybrid system with hidden modes is translated to a hybrid system with perfect state information. Finally, we generalize the solution for the application example to the solution of safety control problem for general hybrid system with hidden modes when the hybrid system satisfies some proposed constraints and assumptions.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>