Synthesis of provably correct controllers for autonomous vehicles in urban environments
This paper considers automatic synthesis of provably correct controllers for autonomous vehicles operating in an urban environment populated with static obstacles and live traffic. We express traffic rules such as collision avoidance, vehicle separation, speed limit, lane following, passing, merging...
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/81461 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 |
| _version_ | 1826211815938326528 |
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| author | Wongpiromsarn, Tichakorn Karaman, Sertac Frazzoli, Emilio |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Wongpiromsarn, Tichakorn Karaman, Sertac Frazzoli, Emilio |
| author_sort | Wongpiromsarn, Tichakorn |
| collection | MIT |
| description | This paper considers automatic synthesis of provably correct controllers for autonomous vehicles operating in an urban environment populated with static obstacles and live traffic. We express traffic rules such as collision avoidance, vehicle separation, speed limit, lane following, passing, merging and intersection precedence requirements in a formal specification language. Embedded control software synthesis is then applied to generate a controller that ensures that the vehicle obeys this set of traffic rules in any road and traffic conditions that satisfy certain assumptions. |
| first_indexed | 2024-09-23T15:11:30Z |
| format | Article |
| id | mit-1721.1/81461 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:11:30Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/814612022-09-29T13:16:31Z Synthesis of provably correct controllers for autonomous vehicles in urban environments Wongpiromsarn, Tichakorn Karaman, Sertac Frazzoli, Emilio Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Karaman, Sertac Frazzoli, Emilio This paper considers automatic synthesis of provably correct controllers for autonomous vehicles operating in an urban environment populated with static obstacles and live traffic. We express traffic rules such as collision avoidance, vehicle separation, speed limit, lane following, passing, merging and intersection precedence requirements in a formal specification language. Embedded control software synthesis is then applied to generate a controller that ensures that the vehicle obeys this set of traffic rules in any road and traffic conditions that satisfy certain assumptions. 2013-10-21T17:33:25Z 2013-10-21T17:33:25Z 2011-10 Article http://purl.org/eprint/type/ConferencePaper 978-1-4577-2197-7 978-1-4577-2198-4 978-1-4577-2196-0 http://hdl.handle.net/1721.1/81461 Wongpiromsarn, Tichakorn, Sertac Karaman, and Emilio Frazzoli. “Synthesis of provably correct controllers for autonomous vehicles in urban environments.” In 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), 1168-1173. Institute of Electrical and Electronics Engineers, 2011. https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 en_US http://dx.doi.org/10.1109/ITSC.2011.6083056 Proceedings of the 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC) 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 (IEEE) MIT Web domain |
| spellingShingle | Wongpiromsarn, Tichakorn Karaman, Sertac Frazzoli, Emilio Synthesis of provably correct controllers for autonomous vehicles in urban environments |
| title | Synthesis of provably correct controllers for autonomous vehicles in urban environments |
| title_full | Synthesis of provably correct controllers for autonomous vehicles in urban environments |
| title_fullStr | Synthesis of provably correct controllers for autonomous vehicles in urban environments |
| title_full_unstemmed | Synthesis of provably correct controllers for autonomous vehicles in urban environments |
| title_short | Synthesis of provably correct controllers for autonomous vehicles in urban environments |
| title_sort | synthesis of provably correct controllers for autonomous vehicles in urban environments |
| url | http://hdl.handle.net/1721.1/81461 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 |
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