2017
DOI: 10.1016/j.nahs.2016.08.008
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Safe human-inspired mesoscopic hybrid automaton for autonomous vehicles

Abstract: In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a humaninspired Adaptive Cruise Control. A control law is proposed with the design goal of replacing and imitating the behaviour of a human driver in a car-following situation where lane changes are possible. First, a microscopic hybrid automaton model is presented, based on human psycho-physical behavior, for both longitudinal and lateral vehicle control. Then a … Show more

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Cited by 15 publications
(16 citation statements)
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“…Another important issue is the increase of computing power and wireless communication capabilities to expand the role of sensors from mere data collection to more demanding tasks that include sensor fusion, classification, and collaborative target tracking, that is, the inclusion of the concept of IoT sensor systems. Therefore, one of the main application fields for sensory systems and CPSs is the realistic scenarios for advanced driver-assistance systems (ADAS) and autonomous vehicles (AV) (Iovine et al 2017;Zhao et al 2017;Reiser et al 2016). According to the Accenture LLP report, for the next ten years and beyond, the key areas into the automotive vehicle industry are: (i) cyber security; (ii) product liability for sensors and software and/or algorithms and (iii) insuring AV infrastructure (Rapberger 2017).…”
Section: Introductionmentioning
confidence: 99%
“…Another important issue is the increase of computing power and wireless communication capabilities to expand the role of sensors from mere data collection to more demanding tasks that include sensor fusion, classification, and collaborative target tracking, that is, the inclusion of the concept of IoT sensor systems. Therefore, one of the main application fields for sensory systems and CPSs is the realistic scenarios for advanced driver-assistance systems (ADAS) and autonomous vehicles (AV) (Iovine et al 2017;Zhao et al 2017;Reiser et al 2016). According to the Accenture LLP report, for the next ten years and beyond, the key areas into the automotive vehicle industry are: (i) cyber security; (ii) product liability for sensors and software and/or algorithms and (iii) insuring AV infrastructure (Rapberger 2017).…”
Section: Introductionmentioning
confidence: 99%
“…A hybrid automaton is a mathematical model of a hybrid system, where the switchings of a discrete control subsystem are modeled based on automata theory, and the motion of control objects with lumped parameters is based on Cauchy problems for ordinary differential equations [1][2][3][4][5][6][7]. We consider the input-output model of a dynamic system with time t ∈ R, a piecewise continuous input function x(t), x : R → X ⊂ R Nx , an output function y(t), y : R → Y and a function z(t), z : R → Z, characterizing the time variation of the state of a dynamic system (Fig.…”
Section: Introduction Model Of the Hybrid Automatamentioning
confidence: 99%
“…Nowadays, many useful switched systems have been exploited in engineering systems and man‐made equipments. For example, such applications have been reported for rotating aero‐engines, chaotic systems, population model, autonomous vehicles, and tank reactors …”
Section: Introductionmentioning
confidence: 99%
“…Nowadays, many useful switched systems have been exploited in engineering systems and man-made equipments. For example, such applications have been reported for rotating aero-engines, 1 chaotic systems, 2 population model, 3 autonomous vehicles, 4 and tank reactors. 5 A surprising attribute of a switched system is that it does not necessarily inherit the stability and behavioral features of its subsystems.…”
Section: Introductionmentioning
confidence: 99%