Safe Stop Trajectory Planning for Highly Automated Vehicles:An Optimal Control Problem Formulation
| Autor: | Anna Pernestål Brenden, Lars Svensson, Martin Törngren, Naveen Mohan, Lei Feng, Erik Ward, Lola Masson |
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| Přispěvatelé: | Division of Computer Engineering, Chalmers University of Technology [Göteborg]-University of Gothenburg (GU), Royal Institute of Technology [Stockholm] (KTH ), Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique (LAAS-TSF), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT) |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Computer science 05 social sciences 02 engineering and technology Robotics Optimal control Dynamic programming Vehicle dynamics 020901 industrial engineering & automation Robotteknik och automation Proof of concept Control theory 11. Sustainability 0502 economics and business Trajectory Benchmark (computing) Dependability [INFO]Computer Science [cs] Motion planning |
| Zdroj: | Intelligent Vehicles Symposium 2018 IEEE Intelligent Vehicles Symposium (IV) 2018 IEEE Intelligent Vehicles Symposium (IV), Jun 2018, Changshu, China. ⟨10.1109/IVS.2018.8500536⟩ |
| DOI: | 10.1109/IVS.2018.8500536⟩ |
| Popis: | International audience; Highly automated road vehicles need the capability of stopping safely in a situation that disrupts continued normal operation, e.g. due to internal system faults. Motion planning for safe stop differs from nominal motion planning, since there is not a specific goal location. Rather, the desired behavior is that the vehicle should reach a stopped state, preferably outside of active lanes. Also, the functionality to stop safely needs to be of high integrity. The first contribution of this paper is to formulate the safe stop problem as a benchmark optimal control problem, which can be solved by dynamic programming. However, this solution method cannot be used in real-time. The second contribution is to develop a real-time safe stop trajectory planning algorithm, based on selection from a precomputed set of trajectories. By exploiting the particular properties of the safe stop problem, the cardinality of the set is decreased, making the algorithm computationally efficient. Furthermore, a monitoring based architecture concept is proposed, that ensures dependability of the safe stop function. Finally, a proof of concept simulation using the proposed architecture and the safe stop trajectory planner is presented. |
| Databáze: | OpenAIRE |
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