Newton-Raphsonフローとバリア関数を用いた自動運転車の交差点交通制御
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions
交差点における自動運転車の軌道制御に、Newton-Raphson法のフロー版と制御バリア関数を組み合わせ、安全性を保証しつつ追従制御を行う手法を提案した論文。
著者: Shashwat Shivam, Yorai Wardi, Magnus Egerstedt, Aris Kanellopoulos, Kyriakos G. Vamvoudakis
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a flow version of the Newton-Raphson method for controlling a predicted system-output to a future reference target. Its implementations are based on numerical solutions of ordinary differential equations, and it does not specify any particular method for computing its future reference trajectories. Consequently it can use relatively simple algorithms on crude models for computing the target trajectories, and more-accurate models and algorithms for trajectory control in the tight loop. We demonstrate this point at an extant predictive traffic planning-and-control method with our tracking technique. Furthermore, we guarantee safety specifications by applying to the tracking technique the framework of control barrier functions.
