Safe, Autonomous and Intelligent Vehicles by Huafeng Yu & Xin Li & Richard M. Murray & S. Ramesh & Claire J. Tomlin

Author:Huafeng Yu & Xin Li & Richard M. Murray & S. Ramesh & Claire J. Tomlin
Language: eng
Format: epub
ISBN: 9783319973012
Publisher: Springer International Publishing

(6.3)

with state x, control input , and disturbance input , where the set is the set of admissible control inputs and the disturbance d is assumed to be restricted to a set . We model any uncontrolled effects on the system with the disturbance input d, which can capture external inputs from the system environment, unknown/uncertain parameters of the system model, or, in a compositional setting, the effects of other subsystems on the subsystem under consideration. For instance, the states v and r of the lateral dynamics act as a disturbance in the ACC submodule when the dynamics in (6.1) are considered. For a system of the form (6.3), consider the control goal of keeping the state x within some safe set X. The safe set can, for instance, represent that the headway h is positive for ACC, or for LK that the lateral displacement y is less than some bound. This type of invariance specification can be encoded with an assume-guarantee contract:

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