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Hybrid Systems Modeling and Reachability-Based Controller Design Methods for Vehicular Automation

Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Laboratories, 2015 Neil Avenue, Columbus, Ohio 43210, USA

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Arda Kurt

Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Laboratories, 2015 Neil Avenue, Columbus, Ohio 43210, USA

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, and

Ümit Özgüner

Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Laboratories, 2015 Neil Avenue, Columbus, Ohio 43210, USA

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https://doi.org/10.1142/S2301385014500071Cited by:3 (Source: Crossref)

Abstract

In this study, applicability of verification and correct-by-design hybrid systems modeling and reachability-based controllers for vehicular automation are investigated. Two perspectives in hybrid systems modeling will be introduced, and then reachability analysis techniques will be developed to compute exact reachable sets from a specified unsafe set. Using level set methods, a Hamilton–Jacobi–Isaacs equation is derived whose solutions describe the boundaries of the finite time backward reachable set, which will be manipulated to design a safe controller that guarantees the safety of a given system. An automated longitudinal controller with a fully integrated collision avoidance functionality will be designed as a hybrid system and validated through simulations with a number of different scenarios in order to illustrate the potential of verification methods in automated vehicles.

This paper was recommended for publication in its revised form by editorial board member, Jun Xu.

Keywords:

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