Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems

Sebastian Sontges; Matthias Althoff

doi:10.1109/ITSC.2015.160

Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems

Sebastian Sontges
, Matthias Althoff

Informatics 6 - Associate Professorship of Cyber Physical Systems

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	956-961
Number of pages	6
ISBN (Electronic)	9781467365956, 9781467365956, 9781467365956, 9781467365956
DOIs	https://doi.org/10.1109/ITSC.2015.160
State	Published - 30 Oct 2015
Event	18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 - Gran Canaria, Spain Duration: 15 Sep 2015 → 18 Sep 2015

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume	2015-October
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
Country/Territory	Spain
City	Gran Canaria
Period	15/09/15 → 18/09/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/ITSC.2015.160

Cite this

Sontges, S., & Althoff, M. (2015). Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems. In Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015 (pp. 956-961). Article 7313252 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 2015-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2015.160

Sontges, Sebastian ; Althoff, Matthias. / Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems. Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 956-961 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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abstract = "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.",

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Sontges, S & Althoff, M 2015, Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems. in Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015., 7313252, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, vol. 2015-October, Institute of Electrical and Electronics Engineers Inc., pp. 956-961, 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015, Gran Canaria, Spain, 15/09/15. https://doi.org/10.1109/ITSC.2015.160

Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems. / Sontges, Sebastian; Althoff, Matthias.
Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 956-961 7313252 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 2015-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Sontges S, Althoff M. Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems. In Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 956-961. 7313252. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC.2015.160

Determining the Nonexistence of Evasive Trajectories for Collision Avoidance Systems

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