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Avoidance Trajectories Using Reachable Sets and Parametric Sensitivity Analysis

Abstract : 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.
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Submitted on : Thursday, July 21, 2016 - 3:58:44 PM
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Matthias Gerdts, Ilaria Xausa. Avoidance Trajectories Using Reachable Sets and Parametric Sensitivity Analysis. 25th System Modeling and Optimization (CSMO), Sep 2011, Berlin, Germany. pp.491-500, ⟨10.1007/978-3-642-36062-6_49⟩. ⟨inria-00637884⟩



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