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Software for verification of collision avoidance algorithms via optimal control techniques

Titelangaben

Xausa, Ilaria ; Baier, Robert ; Bokanowski, Olivier ; Gerdts, Matthias ; Töpfer, Daniel:
Software for verification of collision avoidance algorithms via optimal control techniques.
2014
Veranstaltung: Conference on New Trends in Optimal Control (NetCO 2014) , 23.-27. Juni 2014 , Tours, Frankreich.
(Veranstaltungsbeitrag: Kongress/Konferenz/Symposium/Tagung , Vortrag )

Volltext

Link zum Volltext (externe URL): Volltext

Angaben zu Projekten

Projekttitel:
Offizieller ProjekttitelProjekt-ID
Marie-Curie Initial Training Network "Sensitivity Analysis for Deterministic Controller Design" (SADCO)264735-SADCO

Abstract

The goal of the talk is to present a verification procedure for car collision avoidance algorithms using reachable set information and optimal control techniques. After defining the car models and the scenarios with avoidable objects, consistent with the measured data provided by Volkswagen, we create an algorithm which is able to give an output data comparable with the ones of the Volkswagen algorithms. To do this it is needed to define mathematically when a collision will occur or not. This definition is based on reachable set information and optimal control problem solutions. Moreover we take into account sensor perturbations in relation to their mathematical model. The task is to find sensor tolerance ranges guaranteeing that a certain failure rate probability is not exceeded.
Speaker: Ilaria Xausa

Weitere Angaben

Publikationsform: Veranstaltungsbeitrag (Vortrag)
Begutachteter Beitrag: Nein
Zusätzliche Informationen: published in HAL archive, id: 01024587 in 18 July 2014.

Contents:
1. Motivation
2. Goal
2.1 Goal
2.2 What does "validate" mean?
3. Virtual Test Maker (VTM)
3.1 Input interface
3.2 Specification
3.2.1 Validation Goals
3.2.2 Scenarios
3.3 The optimal control problem (OCP)
3.4 Software packages for solving OCP
3.5 Answers
4. Numerical simulations
4.1 Comparison with collision avoidance by braking algorithm (CAB)
4.1.1 Input of VTM
4.1.2 Output of VTM
4.1.3 Example of testing process
4.2 Comparison with collision by steering algorithm (CAS)
4.2.1 Input of VTM
4.2.2 Output of VTM
Keywords: collision avoidance; driver assistance; sensor tolerances; road scenarios; verification; sensitivity analysis; optimal control; reachable sets
Institutionen der Universität: Fakultäten
Fakultäten > Fakultät für Mathematik, Physik und Informatik
Fakultäten > Fakultät für Mathematik, Physik und Informatik > Mathematisches Institut
Fakultäten > Fakultät für Mathematik, Physik und Informatik > Mathematisches Institut > Lehrstuhl Mathematik V (Angewandte Mathematik)
Profilfelder
Profilfelder > Advanced Fields
Profilfelder > Advanced Fields > Nichtlineare Dynamik
Titel an der UBT entstanden: Ja
Themengebiete aus DDC: 500 Naturwissenschaften und Mathematik > 510 Mathematik
Eingestellt am: 01 Apr 2015 06:35
Letzte Änderung: 01 Apr 2015 10:47
URI: https://eref.uni-bayreuth.de/id/eprint/9561