TY - GEN
T1 - Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems
AU - Sontges, Sebastian
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/30
Y1 - 2015/10/30
N2 - It is of utmost importance for automatic collision avoidance systems to correctly evaluate the risk of a current situation and constantly decide, if and what kind of evasive maneuver must be initiated. Most motion planning algorithms find such maneuver by searching a deterministic or random subset of the state space or input space. These approaches can be designed to be complete in the sense that they converge to a feasible solution as sampling is made denser. However, they are not suitable to determine whether a solution exists. In this paper, we present an approach which overapproximates the reachable set of the host vehicle considering workspace obstacles. Thus, it provides an upper bound of the solution set and it can report if no solution exists. Furthermore, the calculated set can be used for guiding the search of an underlying planning algorithm to find a solution as each trajectory of the host vehicle is ensured to be contained within this set.
AB - It is of utmost importance for automatic collision avoidance systems to correctly evaluate the risk of a current situation and constantly decide, if and what kind of evasive maneuver must be initiated. Most motion planning algorithms find such maneuver by searching a deterministic or random subset of the state space or input space. These approaches can be designed to be complete in the sense that they converge to a feasible solution as sampling is made denser. However, they are not suitable to determine whether a solution exists. In this paper, we present an approach which overapproximates the reachable set of the host vehicle considering workspace obstacles. Thus, it provides an upper bound of the solution set and it can report if no solution exists. Furthermore, the calculated set can be used for guiding the search of an underlying planning algorithm to find a solution as each trajectory of the host vehicle is ensured to be contained within this set.
UR - http://www.scopus.com/inward/record.url?scp=84950255703&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2015.160
DO - 10.1109/ITSC.2015.160
M3 - Conference contribution
AN - SCOPUS:84950255703
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 956
EP - 961
BT - Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
Y2 - 15 September 2015 through 18 September 2015
ER -