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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    Title :

    Safety Evaluation Method for Lateral Dynamics of Automated Vehicles


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:

    Conference:

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



    Publication date :

    2024-10-13


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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