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Design of a Hybrid Controller for Autonomous Vehicles Driving on Automated Highways

Alain Girault 1
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : In this paper we address the problem of the hybrid control of autonomous vehicles driving on automated highways. Vehicles are autonomous, so they do not communicate with each other nor with the infrastructure. Two problems have to be dealt with: A vehicle driving in a single-lane highway must never collide with its leading vehicle; and a vehicle entering the highway at a designated entry junction mustb e able to merge from the merging lane to the main lane, again without any collision. To solve these problems we propose to equip each vehicle with a hybrid controller, consisting of several continuous control laws embedded inside a finite state automaton. The automaton specifies when a given vehicle must enter the highway, merge into the main lane, yield to other vehicles, exit from the high way, and soon. The continuous control laws specify what acceleration the vehicle must have in order to avoid collisions with nearby vehicles. Bycarefully designing these control laws and the conditions guarding the automaton transitions, we are able to demonstrate three important results. Our first result states the initial conditions guaranteeing that a following vehicle never collides with its leading vehicle. Oursecond result extends the first one to a lane of autonomous vehicles.Our third result states that if all the vehicles are equipped with our hybrid controller, then no collision can ever occur and all vehicleseither merge successfully or are forced to drop out when they reach the end of their merging lane. Finally we show the out come of ahighway microsimulation conducted with the SHIFT hybrid simulator developed at UC Berkeley by the PATH group.
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https://hal.inria.fr/inria-00072301
Contributor : Rapport de Recherche Inria <>
Submitted on : Tuesday, May 23, 2006 - 8:20:58 PM
Last modification on : Thursday, February 11, 2021 - 2:40:03 PM
Long-term archiving on: : Sunday, April 4, 2010 - 11:02:56 PM

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  • HAL Id : inria-00072301, version 1

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Alain Girault. Design of a Hybrid Controller for Autonomous Vehicles Driving on Automated Highways. RR-4286, INRIA. 2001. ⟨inria-00072301⟩

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