Development and experimental validation of a semi-autonomous cooperative active safety system
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 equippe...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2013
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| Online Access: | http://hdl.handle.net/1721.1/78336 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1811071761922392064 |
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| author | Verma, Rajeev Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Verma, Rajeev Del Vecchio, Domitilla |
| author_sort | Verma, Rajeev |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T08:55:49Z |
| format | Article |
| id | mit-1721.1/78336 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:55:49Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/783362022-09-26T09:15:42Z Development and experimental validation of a semi-autonomous cooperative active safety system Verma, Rajeev Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Del Vecchio, Domitilla 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. National Science Foundation (U.S.) (NSF CAREER Award Number CNS-0642719) 2013-04-10T20:01:45Z 2013-04-10T20:01:45Z 2011-12 Article http://purl.org/eprint/type/ConferencePaper 978-1-61284-799-3 978-1-61284-800-6 0743-1546 INSPEC Accession Number: 12590445 http://hdl.handle.net/1721.1/78336 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. https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/CDC.2011.6160509 Proceedings of the 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers MIT web domain |
| spellingShingle | Verma, Rajeev Del Vecchio, Domitilla Development and experimental validation of a semi-autonomous cooperative active safety system |
| title | Development and experimental validation of a semi-autonomous cooperative active safety system |
| title_full | Development and experimental validation of a semi-autonomous cooperative active safety system |
| title_fullStr | Development and experimental validation of a semi-autonomous cooperative active safety system |
| title_full_unstemmed | Development and experimental validation of a semi-autonomous cooperative active safety system |
| title_short | Development and experimental validation of a semi-autonomous cooperative active safety system |
| title_sort | development and experimental validation of a semi autonomous cooperative active safety system |
| url | http://hdl.handle.net/1721.1/78336 https://orcid.org/0000-0001-6472-8576 |
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