Interval-based Solutions for Reliable and Safe Navigation of Intelligent Autonomous Vehicles

被引：0

作者：

Ben Lakhal, Nadhir Mansour ^{[1
,2
]}

Adouane, Lounis ^{[1
]}

Nasri, Othman ^{[2
]}

Slama, Jaleleddine Ben Hadj ^{[2
]}

机构：

[1] Clermont Auvergne Univ, Inst Pascal, UCA SIGMA, UMR CNRS 6602, Clermont Ferrand, France

[2] Univ Sousse, Natl Engn Sch Sousse ENISo, LATIS Lab, BP 264, Sousse Erriadh 1023, Tunisia

来源：

2019 12TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO '19) | 2019年

关键词：

RISK-ASSESSMENT; COLLISION; SPEED;

D O I：

10.1109/romoco.2019.8787343

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The transportation systems reliability is addressed in this work. A comprehensive comparison between the probabilistic and the interval-based uncertainty handling approaches for autonomous navigation has been detailed. Based on this comparative study, a set-membership safety verification technique that monitors the correlation between variables has been proposed to achieve an optimal uncertainty assessment. Further, a Principle Component Analysis (PCA) diagnosis process has been extended to handle interval-data. Finally, a strong link between the proposed automotive diagnosis and risk management has been constructed to ensure a high robustness to uncertainty. The proposed interval-based solutions have been integrated on an Adaptive Cruise Control (ACC) system. Simulation results prove the proposed diagnosis and risk management efficiency in handling uncertainties and faults.

引用

页码：124 / 130

页数：7

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