US 12,252,154 B2
Automated system including reachability analysis
Michael Jäntsch, Princeton, NJ (US); and Nareshkumar Nandola, Plainsboro, NJ (US)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 17/294,549
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Dec. 13, 2018, PCT No. PCT/US2018/065327
§ 371(c)(1), (2) Date May 17, 2021,
PCT Pub. No. WO2020/122910, PCT Pub. Date Jun. 18, 2020.
Prior Publication US 2021/0403041 A1, Dec. 30, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); G05B 13/02 (2006.01); G05D 1/00 (2006.01); H02J 3/38 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); G05B 13/027 (2013.01); G05D 1/0055 (2013.01); G05D 1/0088 (2013.01); G05D 1/106 (2019.05); H02J 3/381 (2013.01); B60W 2710/18 (2013.01); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01); B60W 2720/24 (2013.01); H02J 2203/20 (2020.01)] 11 Claims
OG exemplary drawing
 
1. An autonomous system comprising:
a vehicle operable to travel from a first point to a second point;
a first actuator operable to adjust a speed of the vehicle;
a second actuator operable to adjust a direction of travel of the vehicle;
a controller operable to send control signals to the first actuator and the second actuator to facilitate the transition of the system from a first state to a second state during travel between the first point and the second point, wherein the controller employs a neural network model of the autonomous system to form the control signals; and
a reachability controller coupled to the controller to receive the first state and the control signals and to analyze the first state and the control signals to determine if the second state is a safe state, wherein the analytical model includes a dynamical model of the autonomous system, the analytical model being simpler than the neural network model, whereby the analytical model allows calculation of states of the analytical model to determine if the states are safe or unsafe while allowing for a complete testing of all operating conditions.