Avoidance trajectories using reachable sets and parametric sensitivity analysis

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Gerdts, Matthias ; Xausa, Ilaria:
Avoidance trajectories using reachable sets and parametric sensitivity analysis.
In: Hömberg, Dietmar ; Tröltzsch, Fredi (Hrsg.): System Modeling and Optimization : 25th IFIP TC 7 Conference, CSMO 2011, Berlin, Germany, September 12-16, 2011. Revised Selected Papers. - Berlin : Springer , 2013 . - pp. 491-500 . - (IFIP Advances in Information and Communication Technology ; 391 )
ISBN 978-3-642-36061-9
DOI: https://doi.org/10.1007/978-3-642-36062-6_49

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The article suggests a conceptual model-based simulation method with the aim to detect collision of cars in all-day road traffic. The benefit of the method within a driver assistance system would be twofold. Firstly, unavoidable accidents could be detected and appropriate actions like full braking maneuvers could be initiated in due course. Secondly, in case of an avoidable accident the algorithm is able to suggest an evasion trajectory that could be tracked by a future active steering driver assistance system. The algorithm exploits numerical optimal control techniques and reachable set analysis. A parametric sensitivity analysis is employed to investigate the influence of inaccurate sensor measurements.