Matthias Althoff
16 records found
1
Authored
We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications over finite-time trajectories. Rather than stating the STL specification for a single initial cond ...
The computational effort of trajectory planning for automated vehicles often increases with the complexity of the traffic situation. This is particularly problematic in safety-critical situations, in which the vehicle must react in a timely manner. We present a novel motion pl ...
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 ...
Adaptive cruise control is one of the most common comfort features of road vehicles. Despite its large market penetration, current systems are not safe in all driving conditions and require supervision by human drivers. While several previous works have proposed solutions for ...
Ensuring that autonomous vehicles do not cause accidents remains a challenge. We present a formal verification technique for guaranteeing legal safety in arbitrary urban traffic situations. Legal safety means that autonomous vehicles never cause accidents although other traffi ...
We address the problem of provably-safe cooperative driving for a group of vehicles that operate in mixed traffic scenarios, where both autonomous and human-driven vehicles are present. Our method is based on Invariably Safe Sets (ISSs), which are sets of states that let each ...
CommonRoad Drivability Checker
Simplifying the Development and Validation of Motion Planning Algorithms
Collision avoidance, kinematic feasibility, and road-compliance must be validated to ensure the drivability of planned motions for autonomous vehicles. Although these tasks are highly repetitive, computationally efficient toolboxes are still unavailable. The CommonRoad Drivabi ...