Design of a lane departure driver-assist system under safety specifications
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 theore...
| Main Authors: | , , |
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| Format: | Article |
| Language: | en_US |
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2016
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| Online Access: | http://hdl.handle.net/1721.1/101596 |
| _version_ | 1826214463101992960 |
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| author | Hoehener, Daniel Huang, Geng Del Vecchio, Domitilla |
| author_facet | Hoehener, Daniel Huang, Geng Del Vecchio, Domitilla |
| author_sort | Hoehener, Daniel |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T16:05:45Z |
| format | Article |
| id | mit-1721.1/101596 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:05:45Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | mit-1721.1/1015962019-04-12T12:06:09Z Design of a lane departure driver-assist system under safety specifications Hoehener, Daniel Huang, Geng Del Vecchio, Domitilla Formal safety verification Provably correct design Lane departure assist system Lane keeping system 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. 2016-03-04T13:42:36Z 2016-03-04T13:42:36Z 2016-03-04 Article http://hdl.handle.net/1721.1/101596 en_US application/pdf application/pdf |
| spellingShingle | Formal safety verification Provably correct design Lane departure assist system Lane keeping system Hoehener, Daniel Huang, Geng Del Vecchio, Domitilla Design of a lane departure driver-assist system under safety specifications |
| title | Design of a lane departure driver-assist system under safety specifications |
| title_full | Design of a lane departure driver-assist system under safety specifications |
| title_fullStr | Design of a lane departure driver-assist system under safety specifications |
| title_full_unstemmed | Design of a lane departure driver-assist system under safety specifications |
| title_short | Design of a lane departure driver-assist system under safety specifications |
| title_sort | design of a lane departure driver assist system under safety specifications |
| topic | Formal safety verification Provably correct design Lane departure assist system Lane keeping system |
| url | http://hdl.handle.net/1721.1/101596 |
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