DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ahn, Heejin | ko |
dc.contributor.author | Berntorp, Karl | ko |
dc.contributor.author | Di Cairano, Stefano | ko |
dc.date.accessioned | 2022-09-03T08:00:58Z | - |
dc.date.available | 2022-09-03T08:00:58Z | - |
dc.date.created | 2022-08-31 | - |
dc.date.issued | 2018-06 | - |
dc.identifier.citation | 2018 Annual American Control Conference, ACC 2018, pp.3203 - 3208 | - |
dc.identifier.issn | 0743-1619 | - |
dc.identifier.uri | http://hdl.handle.net/10203/298297 | - |
dc.description.abstract | This paper presents the design of a discrete decision making algorithm for vehicles with advanced driver-assistance and automated features. We model the system as a hybrid automaton, where transitions between discrete modes in the automaton correspond to driving mode decisions, and develop a method to determine the timing of mode transitions based on backward and forward reachable sets. The algorithm can be used either as a stand-alone component or as a method to guide an underlying motion planner to safe reference trajectories. Under certain assumptions, the algorithm guarantees safety and liveness, which are validated through computer simulations on a city driving scenario that requires going through multiple discrete modes and includes several surrounding moving obstacles. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Reachability-based Decision Making for City Driving | - |
dc.type | Conference | - |
dc.identifier.wosid | 000591256603045 | - |
dc.identifier.scopusid | 2-s2.0-85052567424 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 3203 | - |
dc.citation.endingpage | 3208 | - |
dc.citation.publicationname | 2018 Annual American Control Conference, ACC 2018 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | Milwauke | - |
dc.identifier.doi | 10.23919/ACC.2018.8431819 | - |
dc.contributor.localauthor | Ahn, Heejin | - |
dc.contributor.nonIdAuthor | Berntorp, Karl | - |
dc.contributor.nonIdAuthor | Di Cairano, Stefano | - |
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