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Software for verification of collision avoidance algorithms via optimal control techniques

Title data

Xausa, Ilaria ; Baier, Robert ; Bokanowski, Olivier ; Gerdts, Matthias ; Töpfer, Daniel:
Software for verification of collision avoidance algorithms via optimal control techniques.
2014
Event: Conference on New Trends in Optimal Control (NetCO 2014) , 23.-27. Juni 2014 , Tours, Frankreich.
(Conference item: Conference , Speech )

Official URL: Volltext

Related URLs

Project information

Project title:
Project's official titleProject's id
Marie-Curie Initial Training Network "Sensitivity Analysis for Deterministic Controller Design" (SADCO)264735-SADCO

Abstract in another language

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

Further data

Item Type: Conference item (Speech)
Refereed: No
Additional notes: 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
Institutions of the University: Faculties
Faculties > Faculty of Mathematics, Physics und Computer Science
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics)
Profile Fields
Profile Fields > Advanced Fields
Profile Fields > Advanced Fields > Nonlinear Dynamics
Result of work at the UBT: Yes
DDC Subjects: 500 Science > 510 Mathematics
Date Deposited: 01 Apr 2015 06:35
Last Modified: 01 Apr 2015 10:47
URI: https://eref.uni-bayreuth.de/id/eprint/9561