Prediction and Optimal Feedback Steering of Probability Density Functions for Safe Automated Driving

We propose a stochastic prediction-control framework to promote safety in automated driving by directly controlling the joint state probability density functions (PDFs) subject to the vehicle dynamics via trajectory-level state feedback. To illustrate the main ideas, we focus on a multi-lane highway...

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Veröffentlicht in:	IEEE control systems letters Jg. 5; H. 6; S. 2168 - 2173
Hauptverfasser:	Haddad, Shadi, Caluya, Kenneth F., Halder, Abhishek, Singh, Baljeet
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	IEEE 01.12.2021
Schlagworte:	Acceleration Automobiles autonomous vehicles Jacobian matrices Probability density function Safety Stochastic systems Trajectory uncertain systems Vehicle dynamics
ISSN:	2475-1456, 2475-1456
Online-Zugang:	Volltext
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