コネクテッド自動運転トラックのための安全なコントローラ統合スキームの実験的検証
Experimental Validation of a Safe Controller Integration Scheme for Connected Automated Trucks
性能重視の制御器と安全重視の制御器を安全に統合する手法を提案し、実車トラックでの実験によりエネルギー効率と安全性の両立を検証した。
著者: Anil Alan, Chaozhe R. He, Tamas G. Molnar, Johaan C. Mathew, A. Harvey Bell, Gabor Orosz
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting controllers. In this study, we propose a controller integration scheme to fuse performance-based controllers and safety-oriented controllers safely for the longitudinal motion of a CAV. The resulting structure is compatible with a large class of controllers, and offers flexibility to design each controller individually without affecting the performance of the others. We implement the proposed safe integration scheme on a connected automated truck using an optimal-in-energy controller and a safety-oriented connected cruise controller. We validate the premise of the safe integration through experiments with a full-scale truck in two scenarios: a controlled experiment on a test track and a real-world experiment on a public highway. In both scenarios, we achieve energy efficient driving without violating safety.
