Verified hybrid controllers for automated vehicles

Abstract

Abstract-The objective of an Automated Highway System (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large scale, multiagent complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss the design of safe and efficient hybrid controllers for regulation of vehicles on an AHS. We use game theoretic techniques to deal with the multiagent and multiobjective nature of the problem. The result is a hybrid controller that by design guarantees safety, without the need for further verification. The calculations also provide an upper bound on the performance that can be expected in terms of throughput at various levels of centralization.

Proving Safety of Traffic Manoeuvres on Country Roads

“…To prepare for a lane change, a car may claim a neighbouring lane, which can be thought of as setting the turn signal, while it is not already in progress of changing lanes or has set the turn signal already (3). A car may reserve a previously claimed lane (5). Also, it may withdraw claims (4) and reservations (6), as long as at least one lane remains reserved by a car.…”

“…Safety on multi-lane motorways was investigated extensively in the context of the California PATH project, where manoeuvres of car platoons including lane change have been studied [5]. Here the car dynamics was an integral part of the safety reasoning.…”

A distributed protocol for motion coordination in free-range vehicular systems

“…In the prevailing approaches, each vehicle is abstracted to a "mobile agent", and its dynamics is described with models whose state evolves in continuous time. Some representative works of this line of research can be found in [18,3,25,14,11,13,8] while a higher-level but more comprehensive description of the pursued methods can be found in [12]. However, as remarked in [18], while many of these works will guarantee collision freedom, very few of them have actually considered the issue of motion liveness.…”

Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

“…The group of hybrid control systems includes a special class of switched systems, where each system comprises a collection of subsystems with a switching rule which specifies switching between them. Hybrid and switched control systems are now a very active area of research, especially in automotive industry (Lygeros et al, 1996;Kurt and Özgüner, 2013;Salehi et al, 2014;Taghavipour et al, 2015), aerospace industry (Pritchett et al, 2001;Kamgarpour et al, 2011) and many other domains (Xiang et al, 2010;Yang et al, 2012;Zhang et al, 2016).…”