Stanley Smith and Adnane Saoud and Murat Arcak

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2021-5

March 4, 2021

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2021/EECS-2021-5.pdf

In this letter we use a monotonicity-based approach to design a safety controller in two realistic driving situations: a vehicle-following scenario and an unprotected left turn scenario. For each scenario we construct a symbolic abstraction of the system and efficiently synthesize a safety controller by exploiting the monotonicity property of the dynamics. In the vehicle-following scenario, we show how monotonicity-based reasoning can be used to handle model uncertainty; in the unprotected left turn scenario, we show how such reasoning can be applied to efficiently deal with the complex scenario of two oncoming vehicles.

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BibTeX citation:

@techreport{Smith:EECS-2021-5,
    Author= {Smith, Stanley and Saoud, Adnane and Arcak, Murat},
    Title= {Monotonicity-Based Symbolic Control for Safety in Real Driving Scenarios},
    Year= {2021},
    Month= {Mar},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2021/EECS-2021-5.html},
    Number= {UCB/EECS-2021-5},
    Abstract= {In this letter we use a monotonicity-based approach to design a safety controller in two realistic driving situations: a vehicle-following scenario and an unprotected left turn scenario. For each scenario we construct a symbolic abstraction of the system and efficiently synthesize a safety controller by exploiting the monotonicity property of the dynamics. In the vehicle-following scenario, we show how monotonicity-based reasoning can be used to handle model uncertainty; in the unprotected left turn scenario, we show how such reasoning can be applied to efficiently deal with the complex scenario of two oncoming vehicles.},
}

EndNote citation:

%0 Report
%A Smith, Stanley 
%A Saoud, Adnane 
%A Arcak, Murat 
%T Monotonicity-Based Symbolic Control for Safety in Real Driving Scenarios
%I EECS Department, University of California, Berkeley
%D 2021
%8 March 4
%@ UCB/EECS-2021-5
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2021/EECS-2021-5.html
%F Smith:EECS-2021-5