Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles
Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles
复制标题
控制障碍功能和输入状态安全在自动驾驶汽车上的应用
DOI：
10.1109/tcst.2023.3286090
复制
发表时间：
2022-06
影响因子：
4.8
通讯作者：
Anil Alan;Andrew J. Taylor;C. He;A. Ames;G. Orosz
中科院分区：
文献类型：
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作者：
Anil Alan;Andrew J. Taylor;C. He;A. Ames;G. Orosz
平衡安全性和性能是现代控制系统设计中的主要挑战之一。此外，在不引起降低性能的不必要的保守性的情况下，稳健地确保安全性至关重要。在这项工作中，我们提出了一个建设性的方法，通过控制障碍功能（CBFs）的安全关键控制综合。通过CBF过滤手工设计的控制器，我们能够获得高性能的行为，同时提供严格的安全保证。在面对干扰时，鲁棒安全性和性能通过输入状态安全性（ISSf）的概念同时实现。我们采取了一个教程的方法，通过开发CBF设计方法与倒立摆的例子并行，使设计过程中的挑战和敏感性具体。为了建立所提出的方法的能力，我们考虑通过CBF的连接自动驾驶汽车（CAV）的形式的8级卡车没有拖车的安全关键设计的实际设置。通过实验，我们看到了未建模的干扰在卡车的驱动系统上的CBF提供的安全保证的影响。我们描述这些干扰，并使用ISSf，产生一个强大的控制器，实现安全而不让步的性能。我们评估我们的设计都在模拟，并首次在汽车系统，实验。
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work, we present a constructive approach for safety-critical control synthesis via control barrier functions (CBFs). By filtering a hand-designed controller via a CBF, we are able to attain performant behavior while providing rigorous guarantees of safety. In the face of disturbances, robust safety and performance are simultaneously achieved through the notion of input-to-state safety (ISSf). We take a tutorial approach by developing the CBF-design methodology in parallel with an inverted pendulum example, making the challenges and sensitivities in the design process concrete. To establish the capability of the proposed approach, we consider the practical setting of safety-critical design via CBFs for a connected automated vehicle (CAV) in the form of a class-8 truck without a trailer. Through experimentation, we see the impact of unmodeled disturbances in the truck’s actuation system on the safety guarantees provided by CBFs. We characterize these disturbances and using ISSf, produce a robust controller that achieves safety without conceding performance. We evaluate our design both in simulation, and for the first time on an automotive system, experimentally.