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A BASIC INEQUALITY FOR LAGRANGIAN SUBMANIFOLDS AND ITS APPLICATION TO WHITNEY'S IMMERSION
BORRELLI, VINCENT,CHEN, BANG-YEN,MORVAN, JEAN-MARIE TOPOLOGY AND GEOMETRY RESEARCH CENTER 1996 Proceedings of the Topology and Geometry Research Vol.7 No.-
In this paper we obtain a general inequality for Lagrangian submanifolds in Cⁿ and we apply this inequality to obtain a very simple, geometric characterization of the Whitney immersion
Human-Centered Risk Assessment of an Automated Vehicle Using Vehicular Wireless Communication
Shin, Donghoon,Kim, Beomjun,Yi, Kyongsu,Carvalho, Ashwin,Borrelli, Francesco IEEE 2019 IEEE transactions on intelligent transportation sy Vol.20 No.2
<P>This paper presents a human-centered risk assessment algorithm using vehicular communication for application to an automated driving vehicle. Vehicle-to-vehicle (V2V) wireless communication has been implemented and fused with a radar sensor to obtain the prediction of the remote vehicle’s motion. Based on the predicted behavior of remote vehicles, a collision risk and a human reaction time are determined for a human-centered active safety control intervention moment. The human-centered risk assessment algorithm has been incorporated into a collision avoidance algorithm to monitor threat vehicles ahead and to find the best intervention point. Effects of the vehicular communication on a perception and a control performance are investigated. The performance of the proposed algorithm has been investigated via computer simulations and vehicle tests. It has been shown from both simulations and vehicle tests that the proposed human-centered risk assessment algorithm with V2V communication decides a proper active safety intervention moment by reducing the chances of over/underestimate of a conventional radar-only system.</P>