自己位置推定の不確かさを考慮した自動運転車の安全速度制御と衝突確率推定

原文アブストラクト

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which include assessing the probability of a collision while driving along a given trajectory and selecting control signals that minimize this probability. In this paper, we propose a speed control system that estimates a collision probability taking into account static and dynamic obstacles as well as ego-pose uncertainty and chooses the maximum safe speed. For that, the planned trajectory is converted by the control system into control signals that form input for the dynamic vehicle model. The model predicts a real vehicle path. The predicted trajectory is generated for each particle -- a weighted by a probability hypothesis of the localization system about the vehicle pose. Based on the predicted particles' trajectories, the probability of collision is calculated, and a decision is made on the maximum safe speed. The proposed algorithm was validated on the real autonomous vehicle. The experimental results demonstrate that the proposed speed control system reduces the vehicle speed to a safe value when performing maneuvers and driving through narrow openings. Therefore the observed behavior of the system is mimicking a human driver behavior when driving in difficult and ambiguous traffic situations.