IF 2.1 3区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Systems & Control Letters Pub Date : 2025-02-01 DOI:10.1016/j.sysconle.2025.106021
HongSheng QI
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引用次数: 0

摘要

车辆安全对于自动驾驶汽车的发展至关重要。有人提出了 RSS(责任敏感安全)的概念,作为保证安全的正式方法,并提出了几种纵向 RSS 方案。然而,即使是高精度的自动驾驶车辆,其动力学也是随机的,可能会因干扰而导致违反 RSS。本研究对自适应巡航控制的随机性进行了实证研究,并提出了有关纵向驾驶的稳健 RSS。我们首先利用真实世界的数据集证明了自适应巡航控制车辆存在一定的时变随机性,并数值计算了考虑噪声时可能违反 RSS 的概率,发现在某些情况下违反 RSS 是不可避免的。然后,得出了噪声干扰 ACC 的显式解。接着,利用随机 ACC 系统的 Euler-Maruyama 方案推导出的马尔可夫链,建立了鲁棒 RSS 框架。该研究扩展了传统的 RSS 框架。
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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.
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来源期刊
Systems & Control Letters
Systems & Control Letters 工程技术-运筹学与管理科学
CiteScore
4.60
自引率
3.80%
发文量
144
审稿时长
6 months
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.
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