Title :
Collision avoidance as a differential game: real-time approximation of optimal strategies using higher derivatives of the value function
Author_Institution :
Inst. fur Math., Tech. Univ. Clausthal, Germany
Abstract :
Contemporary developments of on-board systems for automatic or semi-automatic driving include car collision avoidance. For this purpose a worst case approach based on pursuit-evasion differential games is investigated. On a freeway a correct driver (evader) is faced with a wrong driver (pursuer) ahead. The correct driver tries to avoid a collision against all possible wrong driver´s maneuvers and additionally tries to stay on the freeway. The representation of an optimal collision avoidance strategy along a lot of optimal paths is used to synthesize a collision avoidance strategy globally by means of Taylor series expansions of the value function´s gradient. Examples of simulations which proved satisfactory performance of the on-board collision avoidance system against various typical maneuvers of wrong drivers are presented
Keywords :
automobiles; boundary-value problems; differential games; optimal control; position control; series (mathematics); velocity control; Taylor series expansions; automatic driving; collision avoidance; differential game; evader; on-board systems; optimal strategies; pursuer; real-time approximation; semi-automatic driving; Boundary value problems; Collision avoidance; Differential equations; Face detection; Optimal control; Real time systems; Road accidents; Taylor series; Traffic control; Velocity control;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.635270