Collision Avoidance Safety Filter for an Autonomous E-Scooter using Ultrasonic Sensors⁎⁎F. Allgöwer is thankful that this work was funded by the Ministry of Science, Research and the Arts of the State of Baden-Württemberg (MWK) in the context of the “MobiLab” Project. R. Strässer, D. Meister, M. Seidel thank the Graduate Academy of the SC SimTech for its support. F. Brändle thanks the International Max Planck Research School for Intelligent Systems (IMPRS-IS) for its support.

Autor: Strässer, Robin, Seidel, Marc, Brändle, Felix, Meister, David, Soloperto, Raffaele, Ferrer, David Hambach, Allgöwer, Frank
Zdroj: IFAC-PapersOnLine; January 2024, Vol. 58 Issue: 10 p22-28, 7p
Abstrakt: In this paper, we propose a collision avoidance safety filter for autonomous electric scooters to enable safe operation of such vehicles in pedestrian areas. In particular, we employ multiple low-cost ultrasonic sensors to detect a wide range of possible obstacles in front of the e-scooter. Based on possibly faulty distance measurements, we design a filter to mitigate measurement noise and missing values as well as a gain-scheduled controller to limit the velocity commanded to the e-scooter when required due to imminent collisions. The proposed controller structure is able to prevent collisions with unknown obstacles by deploying a reduced safe velocity ensuring a suficiently large safety distance. The collision avoidance approach is designed such that it may be easily deployed in similar applications of general micromobility vehicles. The effectiveness of our proposed safety filter is demonstrated in real-world experiments.
Databáze: Supplemental Index