自動運転における任意の電気・電子故障に対するフェイルセーフ緊急停止マニューバのリアルタイム大域最適化
Realtime Global Optimization of a Fail-Safe Emergency Stop Maneuver for Arbitrary Electrical / Electronical Failures in Automated Driving
自動運転車の電気・電子システム故障時でも、事前設定した油圧・機械パラメータにより安全な緊急停止を実現するフェイルセーフシステムにおいて、認識・予測環境に基づき大域最適解をリアルタイムで計算する軽量プランニングアルゴリズムを提案した。
著者: F. Duerr, J. Ziehn, R. Kohlhaas, M. Roschani, M. Ruf, J. Beyerer
分類: cs.RO, cs.NA, cs.SY, eess.SY, math.NA
原文アブストラクト
In the event of a critical system failures in auto-mated vehicles, fail-operational or fail-safe measures provide minimum guarantees for the vehicle's performance, depending on which of its subsystems remain operational. Various such methods have been proposed which, upon failure, use different remaining sets of operational subsystems to execute maneuvers that bring the vehicle into a safe state under different environmental conditions. One particular such method proposes a fail-safe emergency stop system that requires no particular electric or electronic subsystem to be available after failure, and still provides a basic situation-dependent emergency stop maneuver. This is achieved by preemptively setting parameters to a hydraulic / mechanical system prior to failure, which after failure executes the preset maneuver "blindly". The focus of this paper is the particular challenge of implementing a lightweight planning algorithm that can cope with the complex uncertainties of the given task while still providing a globally optimal solution at regular intervals, based on the perceived and predicted environment of the automated vehicle.
