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

Nadhir Ben Lakhal, Othman Nasri, Lounis Adouane, Jaleleddine Slama

2020

Abstract

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.

Paper Citation

in Harvard Style

Ben Lakhal N., Nasri O., Adouane L. and Slama J. (2020). Reliable Modeling for Safe Navigation of Intelligent Vehicles: Analysis of First and Second Order Set-membership TTC.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 545-552. DOI: 10.5220/0009890305450552

in Bibtex Style

@conference{icinco20,
author={Nadhir Ben Lakhal and Othman Nasri and Lounis Adouane and Jaleleddine Slama},
title={Reliable Modeling for Safe Navigation of Intelligent Vehicles: Analysis of First and Second Order Set-membership TTC},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={545-552},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009890305450552},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Reliable Modeling for Safe Navigation of Intelligent Vehicles: Analysis of First and Second Order Set-membership TTC
SN - 978-989-758-442-8
AU - Ben Lakhal N.
AU - Nasri O.
AU - Adouane L.
AU - Slama J.
PY - 2020
SP - 545
EP - 552
DO - 10.5220/0009890305450552