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Ensuring Drivability of Planned Motions from Simple Models Using Formal Methods

Schürmann, Bastian and Heß, Daniel and Eilbrecht, Jan and Stursberg, Olaf and Köster, Frank and Althoff, Matthias (2017) Ensuring Drivability of Planned Motions from Simple Models Using Formal Methods. ITSC 2017, 16.-19.10.2017, Yokohama, Japan.

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Motion planning of automated vehicles requires dynamical models to ensure that obtained trajectories are drivable. An often overlooked aspect is that usually simplified models are used for motion planning, which do not always sufficiently conform to the real behavior of vehicles. Thus, collision avoidance and drivability is not necessarily ensured. We address this problem by modeling vehicles as differential inclusions composed from simple dynamics plus set-based uncertainty; conformance testing is used to determine the required uncertainty. To quickly provide the set of solutions of these uncertain models, we provide pre-computed reachable sets (i.e. union of all possible solutions) for pre-selected motion primitives. The reachable sets of vehicles are obtained by a novel combination of optimization techniques and reachability analysis – they enable us to guarantee safety by checking their mutual non-intersection for consecutive time intervals. The benefits of our approach are demonstrated by numerical experiments.

Item URL in elib:https://elib.dlr.de/111912/
Document Type:Conference or Workshop Item (Other)
Title:Ensuring Drivability of Planned Motions from Simple Models Using Formal Methods
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schürmann, Bastianbastian.schuermann (at) tum.deUNSPECIFIED
Heß, DanielDaniel.Hess (at) dlr.deUNSPECIFIED
Eilbrecht, Janjan.eilbrecht (at) uni-kassel.deUNSPECIFIED
Stursberg, Olafstursberg (at) uni-kassel.deUNSPECIFIED
Köster, Frankfrank.koester (at) dlr.deUNSPECIFIED
Althoff, Matthiasalthoff (at) tum.deUNSPECIFIED
Date:19 October 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Automated Driving, Conformance Testing, Reachability Analysis, Formal Verification
Event Title:ITSC 2017
Event Location:Yokohama, Japan
Event Type:international Conference
Event Dates:16.-19.10.2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Heß, Daniel
Deposited On:13 Jun 2018 08:51
Last Modified:20 Jun 2021 15:49

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