Full Record

New Search | Similar Records

Author
Title Safe Controller Design for Intelligent Transportation System Applications using Reachability Analysis
URL
Publication Date
Degree MS
Discipline/Department Electrical and Computer Engineering
Degree Level masters
University/Publisher The Ohio State University
Abstract Intelligent Transportation Systems (ITS) apply well-established technologies in communications, control, and computer hardware and software to increase safety and improve operational performance of the transportation network without expanding the current infrastructure. For many ITS applications, ensuring safety of the traffic participants, including drivers and pedestrians, is one of the most important research initiatives of the Intelligent Transportation Systems Society (ITSS). The ITS applications range from collision avoidance for autonomous or human-driven vehicles to cooperation of multiple vehicles to achieve common goals such as reduced fuel consumption or increased traffic throughput. The main challenges when designing controllers for such systems are the need to consider the close combination of, and coordination between, the system's computational and physical elements. Most of the vehicles nowadays are controlled by tens of or even hundreds of microcontrollers, which communicate via a CAN bus, for electric steering, braking, chassis and body control. Moreover, vehicles interact with other traffic participants including (semi) autonomous vehicles and human-driven cars and also with roadside units through a Vehicle-to-Vehicle (V2V) or Vehicle-to-Infrastructure (V2I) communication, resulting in a large-scale Cyber-Physical System. Thus, traditional control theory that has been devoted to modeling continuous systems cannot adequately model such complex Cyber-Physical Systems, where both continuous (physical plant, e.g., vehicle) and discrete components (computing and communication) closely interacting each other.This thesis studies the design of continuous control laws that satisfy the safety property of the systems and their interfaces with discrete components that abstract human's high-level, decision making process. Our primary goals are to design continuous controllers for ITS applications that by design guarantee the safety property without further verification. First of all, hybrid systems, a class of modeling frameworks which form the foundation for a mathematical approach to Cyber-Physical Systems will be introduced. Then the reachability analysis techniques are developed to compute the exact reachable sets which will then be manipulated to design control laws that satisfy the safety property of the system.As a motivating application, we consider the Adaptive Cruise Control (ACC) system which becomes increasingly popular in commercial vehicles but lacks a fully-automated Collision Avoidance (CA) functionality, thus still leaving the responsibility to human drivers to apply proper braking force. Since the currently available ACC systems are developed mainly for providing drivers comfort and convenience riding, it cannot address the situation where safety should come first. Such situations may include sudden deceleration of a preceding vehicle and cut-in by a slower vehicle, where a rear-end collision is imminent or unavoidable. Thus, an active CA system needs to be developed and fully integrated into…
Subjects/Keywords Electrical Engineering; Cyber-physical systems; intelligent transportation systems; hybrid systems; hybrid automata; reachability analysis; level set methods; hamilton-jacobi-isaacs equations; pursuit-evasion game; adaptive cruise control; collision avoidance
Contributors Ozguner, Umit (Advisor)
Language en
Rights unrestricted ; This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
Country of Publication us
Format application/pdf
Record ID oai:etd.ohiolink.edu:osu1366201401
Repository ohiolink
Date Retrieved
Date Indexed 2020-10-19
Grantor The Ohio State University

Sample Search Hits | Sample Images

…Research Publications ¨ Ozg¨ ¨ uner, Hybrid systems modeling and reachability-based J. Park, A. Kurt, and U. controller design methods for unmanned systems. Unmanned Systems. To be submitted. ¨ Ozg¨ ¨ uner, A game theoretic approach to controller design for…

…Goals In this thesis we focus on the hybrid systems modeling and controller design methods based on reachability analysis that satisfy the safety property of the automotive systems. Special attention in designing the interface between the continuous and…

…model for hybrid systems is the hybrid automata, which overlay finite automata on the system’s underlying continuous dynamics. The hybrid automata have been proved useful for developing methods for hybrid control law design, simulation, and verification…

…xii Chapters: 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 1.2 1 1 3 4 5 5 6 8 8 1.3 1.4 1.5 Overview . . . . . . . . . . . . . . . . . . . Intelligent Transportation Systems . . . . . 1.2.1 Adaptive…

…Cruise Control . . . . . . . 1.2.2 Cooperative Adaptive Cruise Control 1.2.3 Collision Avoidance . . . . . . . . . 1.2.4 Cyber-Physical Systems in Nature . Why Hybrid Systems? . . . . . . . . . . . . Scope and Goals . . . . . . . . . . . . . . . Outline…

…I Theoretical Background 10 2. 11 Hybrid Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii 2.1 2.2 . . . . . 11 12 13 17 18 Reachability Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.1…

…Overview . . . . . . . . . . . . . . . . . Finite Time Backward Reachable Set . . Reachability Computation . . . . . . . . 3.3.1 Level Set Methods . . . . . . . . 3.3.2 Hamilton-Jacobi-Isaacs Equation 3.3.3 Optimal Control Laws . . . . . . Example: Game of…

…4.3.3 Minimum Safe Distances . . . . . . . . . . . . . . . . . . . . Hybrid System Modeling and Controller Design . . . . . . . . . . . 4.4.1 Higher Level Control . . . . . . . . . . . . . . . . . . . . . . 4.4.2 Lower Level Control…

.