COMPUTATION OF SAFETY REGIONS FOR DRIVER ASSISTANCE SYSTEMS BY USING A HAMILTON-JACOBI APPROACH

Abstract : We consider the problem of computing safety regions, modelled as backward reachable sets, for a car collision avoidance model with time-dependant obstacles. The Hamilton-Jacobi-Bellman framework is used, following the approach of Bokanowski and Zidani (Proceeding IFAC 2011, Vol.~18, Part~1, pp.~2589--2593). Furthermore several practical issues for specific obstacle avoidance problems are answered in this work. Different scenarios are then studied and computed. Comparison with a more direct optimal control approach is also done in the case of fixed obstacles. Computations involve solving nonlinear Partial Differential Equations up to five space dimensions plus time and for non smooth data, and an efficient solver is used to this end.
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Pré-publication, Document de travail
2014
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Contributeur : Olivier Bokanowski <>
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Dernière modification le : lundi 29 mai 2017 - 14:21:49
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Ilaria Xausa, Robert Baier, Olivier Bokanowski, Matthias Gerdts. COMPUTATION OF SAFETY REGIONS FOR DRIVER ASSISTANCE SYSTEMS BY USING A HAMILTON-JACOBI APPROACH. 2014. <hal-01123490>

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