入力遅延を考慮した縦方向車両制御における入力-状態安全性
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
先行車に追従する自動運転トラックの縦方向制御において、入力遅延と外乱を考慮し、制御バリア関数と予測フィードバックに基づく衝突回避制御を提案した。
著者: Tamas G. Molnar, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gabor Orosz
分類: eess.SY, cs.RO, cs.SY, math.DS
原文アブストラクト
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations.
