The paper presents a method for automated vehicles, with which safety critical maneuvers can be detected. The proposed method is based on state observation of lateral dynamics, which functionality in a novel observer structure is achieved. The observer contains robust model-based and reinforcement learning-based (RL) methods, which in a performance guaranteed structure are combined. Simulations in the paper illustrate that losses of lateral stability and tracking performance the proposed safety evaluation method can be detected, which is a novel contribution compared to the existing stability index based methods.


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    Titel :

    Safety Evaluation Method for Lateral Dynamics of Automated Vehicles


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Huang, Wei (Herausgeber:in) / Ahmadian, Mehdi (Herausgeber:in) / Németh, Balázs (Autor:in) / Gáspár, Péter (Autor:in) / Hrgetić, Mario (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023



    Erscheinungsdatum :

    13.10.2024


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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