Closed-form controlled invariant sets for pedestrian avoidance

Yasser Shoukry, Paulo Tabuada, Stephanie Tsuei, Mark B. Milam, Jessy W. Grizzle, Aaron D. Ames

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.