# 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.

Download#### 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