In this thesis an approach to verify existing collision avoidance algorithms is proposed. At first the mathematical definition of a car traffic scenario where a conflict situation may occur is given, referencing the structure of an optimal control problem. By solving the optimal control problem using OCPID-DAE1 software and ROC-HJ software, reference vehicle trajectories and sets of points reached by the reference vehicle, are computed. Moreover the implementation of a sensitivity analysis predicts effects of measurements errors on the trajectory or on the reachable set. Furthermore, the maximum possible sensor error for a given reference vehicle trajectory is estimated. The second step applies such techniques to construct a tool for verification of collision avoidance algorithms. Examples of verification procedures are given, based on the computation of the closest distance to an object for a rear-end collision scenario, or based on the computation of the safe set of initial states from which is possible for the reference vehicle to avoid a collision.


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    Title :

    Verification of Collision Avoidance Systems using Optimal Control and Sensitivity Analysis


    Contributors:

    Publication date :

    2015-01-01


    Remarks:

    Xausa, Ilaria: Verification of Collision Avoidance Systems using Optimal Control and Sensitivity Analysis. 2015


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629 / 000



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