{"title":"Robust responsibility-sensitive safety: Noise disturbed adaptive cruise control","authors":"HongSheng QI","doi":"10.1016/j.sysconle.2025.106021","DOIUrl":null,"url":null,"abstract":"<div><div>Vehicle safety is crucial for the development of autonomous vehicles. The concept of RSS (responsibility sensitive safety) is proposed as a formal method to guarantee safety, and several longitudinal RSS formulations are proposed. However, even for highly accurate autonomous vehicles, its dynamics is stochastic, and may lead to the RSS violation due to disturbances. This research investigates the stochasticity of the adaptive cruise control empirically, and proposes a robust RSS regarding longitudinal driving. We firstly show that there exists certain time-variant stochasticity in the ACC controlled vehicle using real world dataset, and numerically calculated the probability that the RSS may be violated when the noise is considered, which reveals that RSS violation is inevitable under certain scenarios. Then, an explicit solution of the noise disturbed ACC is derived. Next, a robust RSS framework is established, by employing the Markov chain derived from the Euler-Maruyama scheme of the stochastic ACC system. The research extends the conventional RSS framework.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106021"},"PeriodicalIF":2.1000,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Systems & Control Letters","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0167691125000039","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Robust responsibility-sensitive safety: Noise disturbed adaptive cruise control
Vehicle safety is crucial for the development of autonomous vehicles. The concept of RSS (responsibility sensitive safety) is proposed as a formal method to guarantee safety, and several longitudinal RSS formulations are proposed. However, even for highly accurate autonomous vehicles, its dynamics is stochastic, and may lead to the RSS violation due to disturbances. This research investigates the stochasticity of the adaptive cruise control empirically, and proposes a robust RSS regarding longitudinal driving. We firstly show that there exists certain time-variant stochasticity in the ACC controlled vehicle using real world dataset, and numerically calculated the probability that the RSS may be violated when the noise is considered, which reveals that RSS violation is inevitable under certain scenarios. Then, an explicit solution of the noise disturbed ACC is derived. Next, a robust RSS framework is established, by employing the Markov chain derived from the Euler-Maruyama scheme of the stochastic ACC system. The research extends the conventional RSS framework.
期刊介绍:
Founded in 1981 by two of the pre-eminent control theorists, Roger Brockett and Jan Willems, Systems & Control Letters is one of the leading journals in the field of control theory. The aim of the journal is to allow dissemination of relatively concise but highly original contributions whose high initial quality enables a relatively rapid review process. All aspects of the fields of systems and control are covered, especially mathematically-oriented and theoretical papers that have a clear relevance to engineering, physical and biological sciences, and even economics. Application-oriented papers with sophisticated and rigorous mathematical elements are also welcome.