  This paper considers the problem of safety controller synthesis for systems
equipped with sensor modalities that can provide preview information. We
consider switched systems where switching mode is an external signal for which
preview information is available. In particular, it is assumed that the sensors
can notify the controller about an upcoming mode switch before the switch
occurs. We propose preview automaton, a mathematical construct that captures
both the preview information and the possible constraints on switching signals.
Then, we study safety control synthesis problem with preview information. An
algorithm that computes the maximal invariant set in a given mode-dependent
safe set is developed. These ideas are demonstrated on two case studies from
autonomous driving domain.
