Adaptive Safe Control for Driving in Uncertain Environments

Abstract

This paper presents an adaptive safe control method that can adapt to changing environments, tolerate large uncertainties, and exploit predictions in autonomous driving. We first derive a sufficient condition to ensure long-term safe probability when there are uncertainties in system parameters. Then, we use the safety condition to formulate a stochastic adaptive safe control method. Finally, we test the proposed technique numerically in a few driving scenarios. The use of long-term safe probability provides a sufficient outlook time horizon to capture future predictions of the environment and planned vehicle maneuvers and to avoid unsafe regions of attractions. The resulting control action systematically mediates behaviors based on uncertainties and can find safer actions even with large uncertainties. This feature allows the system to quickly respond to changes and risks, even before an accurate estimate of the changed parameters can be constructed. The safe probability can be continuously learned and refined. Using more precise probability avoids over-conservatism, which is a common drawback of the deterministic worst-case approaches. The proposed techniques can also be efficiently computed in real-time using onboard hardware and modularly integrated into existing processes such as predictive model controllers.