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This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control.
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K. L. R. Talvala and C. J. Gerdes, “Lanekeeping at the limits of handling: Stability via Lyapunov functions and a comparison with stability control,” in ASME Dynamic Systems and Control Conference , 2008, pp. 361–368
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Y. S. Son, W. Kim, S.-H. Lee, and C. C. Chung, “Robust multirate control scheme with predictive virtual lanes for lane-keeping system of autonomous highway driving,” Vehicular Technology, IEEE Transactions on , vol. 64, no. 8, pp. 3378–3391, 2015
2015
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E. S. Kim, M. Arcak, and S. A. Seshia, “Compositional controller synthesis for vehicular traffic networks,” in 2015 54th IEEE Conference on Decision and Control (CDC) . IEEE, 2015, pp. 6165–6171
2015
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X. Xu, P. Tabuada, A. D. Ames, and J. W. Grizzle, “Robustness of control barrier functions for safety critical control,” in IFAC Conference on Analysis and Design of Hybrid Systems , 2015, pp. 54–61
2015
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Cited alongside, same era.
K. L. Talvala, K. Kritayakirana, and J. C. Gerdes, “Pushing the limits: From lanekeeping to autonomous racing,” Annual Reviews in Control , vol. 35, no. 1, pp. 137–148, 2011
2011
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S. M. Loos, A. Platzer, and L. Nistor, “Adaptive cruise control: Hybrid, distributed, and now formally verified,” in FM 2011: Formal Methods . Springer, 2011, pp. 42–56
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R. Rajamani, Vehicle dynamics and control . Springer Science & Business Media, 2011
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M. Asplund, A. Manzoor, M. Bouroche, S. Clarke, and V. Cahill, “A formal approach to autonomous vehicle coordination,” in FM 2012: Formal Methods . Springer, 2012, pp. 52–67
2012
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A. Sangiovanni-Vincentelli, W. Damm, and R. Passerone, “Taming dr. frankenstein: Contract-based design for cyber-physical systems,” European journal of control , vol. 18, no. 3, pp. 217–238, 2012
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A. Majumdar, A. A. Ahmadi, and R. Tedrake, “Control design along trajectories with sums of squares programming,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on . IEEE, 2013, pp. 4054–4061
2013
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J. Anderson and A. Papachristodoulou, “Robust nonlinear stability and performance analysis of an F/A-18 aircraft model using sum of squares programming,” International Journal of Robust and Nonlinear Control , vol. 23, no. 10, pp. 1099–1114, 2013
2013
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“National Highway Traffic Safety Administration (NHTSA),” 2014. [Online]. Available: http://www.nhtsa.gov
2014
Cited alongside, same era.
A. Mehra, W.-L. Ma, F. Berg, P. Tabuada, J. W. Grizzle, and A. D. Ames, “Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars,” in American Control Conference , 2015
2015
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U. Borrmann, L. Wang, A. D. Ames, and M. Egerstedt, “Control barrier certificates for safe swarm behavior,” IFAC-PapersOnLine , vol. 48, no. 27, pp. 68–73, 2015
2015
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S.-C. Hsu, X. Xu, and A. D. Ames, “Control barrier function based quadratic programs with application to bipedal robotic walking,” in American Control Conference . IEEE, 2015, pp. 4542–4548
2015
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J. Huang and H.-S. Tan, “Development and validation of an automated steering control system for bus revenue service,” IEEE Transactions on Automation Science and Engineering , vol. 13, no. 1, pp. 227–237, 2016
2016
Closest in time.
M. Forghani, J. M. McNew, D. Hoehener, and D. Del Vecchio, “Design of driver-assist systems under probabilistic safety specifications near stop signs,” IEEE Transactions on Automation Science and Engineering , vol. 13, no. 1, pp. 43–53, 2016
2016
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P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. Ames, J. Grizzle, N. Ozay, H. Peng, and P. Tabuada, “Correct-by-construction adaptive cruise control: Two approaches,” IEEE Transactions on Control Systems Technology , vol. 24, no. 4, pp. 1294–1307, 2016
2016
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S. Dai and X. Koutsoukos, “Safety analysis of automotive control systems using multi-modal port-hamiltonian systems,” in 19th ACM International Conference on Hybrid Systems: Computation and Control , 2016
2016
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S. Smith, P. Nilsson, and N. Ozay, “Interdependence quantification for compositional control synthesis: An application in vehicle safety systems,” in IEEE CDC , 2016 (to appear)
2016
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Q. Nguyen and K. Sreenath, “Exponential control barrier functions for enforcing high relative-degree safety-critical constraints,” in American Control Conference , 2016
2016
Closest in time.
A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Transactions on Automatic Control , 2017, doi:10.1109/TAC.2016.2638961
2016
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X. Xu, T. Waters, D. Pickem, P. Glotfelter, M. Egerstedt, P. Tabuada, J. W. Grizzle, and A. D. Ames, “Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds.” 2017, submitted
2017
Closest in time.