Computation of avoidance regions for driver assistance systems by using a Hamilton-Jacobi approach

DOI10.1002/OCA.2565MaRDI QIDQ5000774zbMATHOpenAlexFDO

Authors Ilaria Xausa, R. Baier, Olivier Bokanowski, Matthias Gerdts

Publication date 15 July 2021

Published in Optimal Control Applications \& Methods (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1911.12222

zbMATH Keywords

Hamilton-Jacobi-Bellman equationslevel-set approachcollision avoidancehigh-dimensional partial differential equationsbackward reachable sets

Mathematics Subject Classification ID

Attainable sets, reachability (93B03) Nonlinear systems in control theory (93C10) Control/observation systems governed by partial differential equations (93C20)

Abstract: We consider the problem of computing safety regions, modeled as nonconvex backward reachable sets, for a nonlinear car collision avoidance model with time-dependent obstacles. The Hamilton-Jacobi-Bellman framework is used. A new formulation of level set functions for obstacle avoidance is given and sufficient conditions for granting the obstacle avoidance on the whole time interval are obtained, even though the conditions are checked only at discrete times. Different scenarios including various road configurations, different geometry of vehicle and obstacles, as well as fixed or moving obstacles, are then studied and computed. Computations involve solving nonlinear partial differential equations of up to five space dimensions plus time with nonsmooth obstacle representations, and an efficient solver is used to this end. A comparison with a direct optimal control approach is also done for one of the examples.

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• External ellipsoidal approximations for set evolution equations

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