University of Michigan

Mitsubishi Electric Research Laboratories, Inc.

Az Brd Regents on Behalf of Az State University

Mitsubishi Electric Corporation

Yunus Emre Sahin

Stefano Di Cairano

Rien Quirynen

Sze Zheng Yong

Necmiye Ozay

Kwesi Rutledge

Dimitra Panagou

Zexiang Liu

A control system for controlling a motion of a vehicle to a target driving goal uses a decision-maker configured to determine a sequence of intermediate goals leading to the next target goal by optimizing the motion of the vehicle subject to a first model and tightened driving constraints formed by tightening driving constraints by a safety margin, and uses a motion planner configured to determine a motion trajectory of the vehicle tracking the sequence of intermediate goals by optimizing the motion of the vehicle subject to the second model. The driving constraints include mixed logical inequalities of temporal logic formulae specified by traffic rules to define an area where the temporal logic formulae are satisfied, while the tightened driving constraints shrink the area by the safety margin, which is a function of a difference between the second model and the first model approximating the second model.

Adaptive optimization of decision making for vehicle control

In one aspect, the present disclosure provides a method in a data processing system comprising at least one processor and at least one memory, the at least one memory comprising instructions executed by the at least one processor to implement a vehicle overtaking monitoring system. The method comprises receiving, from a first plurality of sensors coupled to an ego vehicle, lead vehicle data about a lead vehicle, inferring an estimated intention of the lead vehicle based on the lead vehicle data, selecting an intention model from a plurality of intention models based on the estimated intention, calculating a set of permissible driving inputs of the ego vehicle based on the intention model, calculating at least one driver input range based on the set of permissible driving inputs, and causing the at least one driver input range to be displayed to a driver of the ego vehicle.

Intention-aware supervisory control with driving safety applications

Growing community of inventors

Ann Arbor, MI, United States of America

Yunus Emre Sahin