インテグリティ・ゲート型エコCACC：信号交差点における協調運転のための認識論的許容性
Integrity-Gated Eco-CACC: Epistemic Admissibility for Cooperative Driving at Signalized Intersections
協調運転システムがセンサ異常や認識の不整合で誤動作しないよう、内部モデルと外部センシングの整合性を監視し、信頼度に応じてエコ運転と安全優先のフォールバックを切り替える枠組みを提案した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Lyes Saad Saoud, Moussa Ayyash
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems rely on accurate localization, signal timing, and interaction awareness to optimize energy consumption at signalized intersections. Existing approaches typically assume that the internal world model used for optimization remains valid, making them vulnerable when sensing outages or semantic inconsistencies invalidate planning premises. This letter proposes an Integrity-Gated Eco-CACC framework that explicitly monitors the consistency between internal vehicle beliefs and external sensing. A unified integrity metric is constructed by combining positional innovation, observability loss, and semantic inconsistencies. The resulting trust score regulates control authority, enabling a transition between nominal eco-driving and a safety-dominant fallback maneuver. Unlike robust control methods that attempt to preserve performance under uncertainty, the proposed framework regulates whether energy-optimal control remains admissible. Scenario-based simulations demonstrate that the method preserves nominal efficiency when model consistency is maintained, while enabling early and conservative responses under integrity degradation.
