Closed-form controlled invariant sets for pedestrian avoidance

Abstract

The recent trends in the automotive industry towards autonomous vehicles bring the problem of pedestrian avoidance to the forefront of a long list of safety concerns. In this paper we propose a closed-form solution to this problem by explicitly computing closed-form expressions for subsets of the state space where an autonomous vehicle is guaranteed to avoid collisions with a pedestrian. These sets, being controlled invariant, immediately lead to control laws for pedestrian avoidance.

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