A system and method of collision avoidance using an invarient set based on vehicle states and dynamic characteristics

摘要

A method to provide and implement a collision avoidance system for a vehicle. The method includes receiving a buffer zone boundary input defining a buffer zone at an on-board processor in the vehicle from a controlling supervisor, calculating a positively invariant set based on vehicle states and dynamic characteristics, the positively invariant set operable to define a protection zone enclosed within the buffer zone and centered about the vehicle, determining an object is traversing the buffer zone boundary; and implementing an emergency maneuver procedure after a collision avoidance maneuver fails, wherein the object does not enter the protection zone.