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.
Safety Evaluation Method for Lateral Dynamics of Automated Vehicles
Lect.Notes Mechanical Engineering
The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023
13.10.2024
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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