Communication Dans Un Congrès Année : 2020

Reliable Modeling for Safe Navigation of Intelligent Vehicles: Analysis of First and Second Order Set-membership TTC

Résumé

Developing high fidelity models to compute the Time-To-Collision (TTC) between vehicles is addressed in this work. A TTC interval value is over-approximated while considering several uncertainties via interval analysis. Furthermore, to decrease modeling inaccuracy, a novel second-order set-membership TTC formalization is introduced by solving a polynomial equation with interval coefficients. This latter is derived from vehicles’ motion equations. Hence, an approach based on correlation analysis is exploited to improve the uncertainty evaluation. The simulation results applied on an adaptive cruise control system of both high/low-order TTC formalizations prove that the low-order model inaccuracy is compensated. Thanks to interval analysis and correlation characterization, a great balance between modeling accuracy and simplicity is reached.

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hal-02947363 , version 1 (11-08-2021)

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Nadhir Ben-Lakhal, Othman Nasri, Lounis Adouane, Jaleleddine Ben Hadj Slama. Reliable Modeling for Safe Navigation of Intelligent Vehicles: Analysis of First and Second Order Set-membership TTC. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris (on line), France. pp.545-552, ⟨10.5220/0009890305450552⟩. ⟨hal-02947363⟩
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