操舵を考慮した遠隔運転向け適応クルーズコントロール
Steering Action-aware Adaptive Cruise Control for Teleoperated Driving
遠隔操作車両において、操作者の操舵を考慮しつつ速度指令を安全側に上書きするACC手法を提案し、1/10スケール実験で衝突回避を実証した。
著者: Andreas Schimpe, Domagoj Majstorovic, Frank Diermeyer
分類: cs.RO
原文アブストラクト
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control commands. The safe state is defined as a state from which the vehicle can be stopped safely, no matter which steering actions are applied by the operator. This is achieved by first sampling various potential future trajectories. In a second stage, assuming the trajectory with the highest risk, a safe and comfortable velocity profile is optimized. This yields a safe velocity control command for the vehicle. In simulations, the characteristics of the approach are compared to a Model Predictive Control-based approach that is capable of overriding both, the commanded steering angle as well as the velocity. Furthermore, in teleoperation experiments with a 1:10-scale vehicle testbed, it is demonstrated that the proposed ACC approach keeps the vehicle safe, even if the control commands from the operator would have resulted in a collision.
