Verified hybrid controllers for automated vehicles

Lygeros, John; Godbole, Datta N.; Sastry, S. Shankar

doi:10.1109/9.664155

Cited by 253 publications

(125 citation statements)

References 49 publications

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“…To prepare for a lane change, a car may claim a neighbouring lane, which can be thought of as setting the turn signal, while it is not already in progress of changing lanes or has set the turn signal already (3). A car may reserve a previously claimed lane (5). Also, it may withdraw claims (4) and reservations (6), as long as at least one lane remains reserved by a car.…”

Section: Definition 2 (Transitions)mentioning

confidence: 99%

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Proving Safety of Traffic Manoeuvres on Country Roads

Hilscher

Linker

Olderog

2013

Theories of Programming and Formal Methods

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Abstract.We adapt the Multi-lane Spatial Logic MLSL, introduced in [1] for proving the safety (collision freedom) of traffic manoeuvres on multi-lane motorways, where all cars drive in one direction, to the setting of country roads with two-way traffic. To this end, we need suitably refined sensor functions and length measurement in MLSL. Our main contribution is to show that also here we can separate the purely spatial reasoning from the underlying car dynamics in the safety proof.

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Section: Definition 2 (Transitions)mentioning

confidence: 99%

“…Safety on multi-lane motorways was investigated extensively in the context of the California PATH project, where manoeuvres of car platoons including lane change have been studied [5]. Here the car dynamics was an integral part of the safety reasoning.…”

Section: Introductionmentioning

confidence: 99%

Proving Safety of Traffic Manoeuvres on Country Roads

Hilscher

Linker

Olderog

2013

Theories of Programming and Formal Methods

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“…In the prevailing approaches, each vehicle is abstracted to a "mobile agent", and its dynamics is described with models whose state evolves in continuous time. Some representative works of this line of research can be found in [18,3,25,14,11,13,8] while a higher-level but more comprehensive description of the pursued methods can be found in [12]. However, as remarked in [18], while many of these works will guarantee collision freedom, very few of them have actually considered the issue of motion liveness.…”

Section: Introductionmentioning

confidence: 99%

A distributed protocol for motion coordination in free-range vehicular systems

Roszkowska

Reveliotis

2013

Automatica

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This work extends our research on motion coordination of free-range vehicular systems based on concepts and results borrowed from resource allocation systems (RAS) theory, to vehicular systems with limited communication range among the vehicles. Similar to the earlier work, the employed model assumes the tessellation of the motion plane into cells, which are allocated to the traveling vehicles in a controlled manner that ensures collision-free and live motion. On the other hand, the limited communication range of the vehicles implies that full synchronization of their access to the considered cells is not possible any more, and yields new challenges for the deployed supervisory control policies.To enable the development of supervisory policies capable of providing the necessary partial synchronization of the cell allocation, we modify the structure of the adopted tessellation by allowing the concurrent occupation of a cell by up to two vehicles at a time, instead of only one, that was assumed earlier. This modification renders polynomially computable the relevant maximally permissive cell allocation policy, and it enables the implementation of this policy in the form of a distributed protocol that is feasible in the context of the communication constraints that are considered in this work.

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“…The group of hybrid control systems includes a special class of switched systems, where each system comprises a collection of subsystems with a switching rule which specifies switching between them. Hybrid and switched control systems are now a very active area of research, especially in automotive industry (Lygeros et al, 1996;Kurt and Özgüner, 2013;Salehi et al, 2014;Taghavipour et al, 2015), aerospace industry (Pritchett et al, 2001;Kamgarpour et al, 2011) and many other domains (Xiang et al, 2010;Yang et al, 2012;Zhang et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

Tomera

2017

International Journal of Applied Mathematics and Computer Science

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The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller. The study also presents designs of all controller components, which are done using a complex mathematical model of the selected ship, after its simplification depending on the type of controller. The developed control system was tested on the training ship Blue Lady and used to train captains at the Ship Handling Research and Training Center near Iława in Poland. The conducted research involved an automatic movement of the ship from one port to another. The performed transit route required the ship to leave the port, pass the water area, and berth at the port of destination. The study revealed good quality of the designed hybrid controller.

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Verified hybrid controllers for automated vehicles

Cited by 253 publications

References 49 publications

Proving Safety of Traffic Manoeuvres on Country Roads

Proving Safety of Traffic Manoeuvres on Country Roads

A distributed protocol for motion coordination in free-range vehicular systems

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

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