Safe motion planning for automated vehicles requires that a collision-free trajectory can be guaranteed. For that purpose, we propose a monitoring concept that would ensure safe vehicle states. Determining these safe states, however, is usually a computationally demanding task. To alleviate the computational demand, we investigate the possibility to compute the safe sets offline. To achieve this, we leverage backward reachability theory and compute the N-step robust backward reachable set offline. Based on the current disturbances, we demonstrate the possibility to adapt this set online. The safety guarantees are then provided by computing the robust one-step forward prediction of the state vector and checking if these states are members of the adapted safe set. The numerical example demonstrates that the approach is capable of avoiding hazardous vehicle states under an unsafe motion planning algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A safety monitoring concept for fully automated driving*


    Contributors:


    Publication date :

    2020-09-20


    Size :

    531249 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    A legal safety concept for highly automated driving on highways

    Vanholme, B. / Gruyer, D. / Glaser, S. et al. | Tema Archive | 2011


    A legal safety concept for highly automated driving on highways

    Vanholme, B. / Gruyer, D. / Glaser, S. et al. | IEEE | 2011


    A Legal Safety Concept for Highly Automated Driving on Highways

    Vanholme, B. / Gruyer, D. / Glaser, S. et al. | British Library Conference Proceedings | 2011


    A Formally Verified Fail-Operational Safety Concept for Automated Driving

    Terechko, Andrei / Saberi, Arash Khabbaz / Groote, Jan Friso et al. | SAE Technical Papers | 2022


    A Safety Concept based on a Safety Sustainer for Highly Automated Driving Systems

    Sakurai, Kohei / Otsuka, Satoshi | SAE Technical Papers | 2016