Sℒ1-Simplex: Safe Velocity Regulation of Self-Driving Vehicles in Dynamic and Unforeseen Environments

IF 2 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
Y. Mao, Yuliang Gu, N. Hovakimyan, L. Sha, P. Voulgaris
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引用次数: 3

Abstract

This article proposes a novel extension of the Simplex architecture with model switching and model learning to achieve safe velocity regulation of self-driving vehicles in dynamic and unforeseen environments. To guarantee the reliability of autonomous vehicles, an ℒ1 adaptive controller that compensates for uncertainties and disturbances is employed by the Simplex architecture as a verified high-assurance controller (HAC) to tolerate concurrent software and physical failures. Meanwhile, the safe switching controller is incorporated into the HAC for safe velocity regulation in the dynamic (prepared) environments, through the integration of the traction control system and anti-lock braking system. Due to the high dependence of vehicle dynamics on the driving environments, the HAC leverages the finite-time model learning to timely learn and update the vehicle model for ℒ1 adaptive controller, when any deviation from the safety envelope or the uncertainty measurement threshold occurs in the unforeseen driving environments. With the integration of ℒ1 adaptive controller, safe switching controller and finite-time model learning, the vehicle’s angular and longitudinal velocities can asymptotically track the provided references in the dynamic and unforeseen driving environments, while the wheel slips are restricted to safety envelopes to prevent slipping and sliding. Finally, the effectiveness of the proposed Simplex architecture for safe velocity regulation is validated by the AutoRally platform.
Sℒ1-简单:自动驾驶车辆在动态和不可预见环境中的安全速度调节
本文提出了Simplex架构的一个新扩展,通过模型切换和模型学习来实现自动驾驶车辆在动态和不可预见环境中的安全速度调节。为了保证自动驾驶汽车的可靠性ℒ1自适应控制器,其补偿不确定性和干扰,被Simplex架构用作经验证的高保证控制器(HAC),以容忍并发的软件和物理故障。同时,通过集成牵引控制系统和防抱死制动系统,将安全切换控制器纳入HAC,以在动态(准备好的)环境中进行安全速度调节。由于车辆动力学对驾驶环境的高度依赖性,HAC利用有限时间模型学习来及时学习和更新车辆模型ℒ1自适应控制器,当在不可预见的驾驶环境中发生与安全包络线或不确定性测量阈值的任何偏差时。随着ℒ1自适应控制器、安全切换控制器和有限时间模型学习,车辆的角速度和纵向速度可以在动态和不可预见的驾驶环境中渐近跟踪所提供的参考,而车轮打滑被限制在安全包络内,以防止打滑和滑动。最后,通过AutoRally平台验证了所提出的Simplex安全调速体系结构的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
ACM Transactions on Cyber-Physical Systems
ACM Transactions on Cyber-Physical Systems COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS-
CiteScore
5.70
自引率
4.30%
发文量
40
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