Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization

Safe motion planning for autonomous vehicles is a challenging task, since the exact future motion of other traffic participant is usually unknown. In this article, we present a verification technique ensuring that autonomous vehicles do not cause collisions by using fail-safe trajectories. Fail-safe...

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Bibliographic Details
Published in:IEEE transactions on robotics 2021-06, Vol.37 (3), p.798-814
Main Authors: Pek, Christian, Althoff, Matthias
Format: Article
Language:English
Subjects:
Accidents
Agricultural robots
Autonomous vehicles
Convex optimization
Convexity
Fail safes
fail-safe operation
formal verification
In-depth analysis
Integrated circuits
Motion planning
On-line verifications
Optimization
Planning
Real time
Real-time systems
Robots
safe states
Safety
Safety critical
set-based computation
Traffic planning
Trajectories
Trajectory
Urban traffic
Vehicles
Verification
Verification techniques
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