Closed-Form Controlled Invariant Sets for Pedestrian Avoidance

被引：0

作者：

Shoukry, Yasser ^{[1
,2
]}

Tabuada, Paulo ^{[2
]}

Tsuei, Stephanie ^{[3
]}

Milam, Mark B. ^{[3
]}

Grizzle, Jessy W. ^{[4
]}

Ames, Aaron D. ^{[5
]}

机构：

[1] Univ Calif Berkeley, Elect Engn & Comp Sci Dept, Berkeley, CA 94720 USA

[2] Univ Calif Los Angeles, Dept Elect Engn, Los Angeles, CA 90024 USA

[3] NG Next, Northrop Grumman, Redondo Beach, CA 90278 USA

[4] Univ Michigan, Dept Elect Engn & Comp Sci, Ann Arbor, MI 48109 USA

[5] CALTECH, Dept Mech & Civil Engn, Pasadena, CA 91125 USA

来源：

2017 AMERICAN CONTROL CONFERENCE (ACC) | 2017年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The recent trends in the automotive industry towards autonomous vehicles bring the problem of pedestrian avoidance to the forefront of a long list of safety concerns. In this paper we propose a closed-form solution to this problem by explicitly computing closed-form expressions for subsets of the state space where an autonomous vehicle is guaranteed to avoid collisions with a pedestrian. These sets, being controlled invariant, immediately lead to control laws for pedestrian avoidance.

引用

页码：1622 / 1628

页数：7

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