Safety Control with Preview Automaton
Safety Control with Preview Automaton
复制标题
带预览自动机的安全控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
N. Ozay
中科院分区：
文献类型：
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作者：
Zexiang Liu;N. Ozay
本文考虑了配备传感器模态，可以提供预览信息的系统的安全控制器综合的问题。我们考虑切换系统的切换模式是一个外部信号的预览信息。特别地，假设传感器可以在切换发生之前通知控制器关于即将到来的模式切换。我们提出了预览自动机，一个数学构造，捕获的预览信息和可能的限制开关信号。然后，研究了具有预见信息的安全控制综合问题。提出了一种在给定的模式依赖安全集中计算最大不变集的算法。这些想法证明了两个案例研究从自动驾驶领域。
This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview information is available. In particular, it is assumed that the sensors can notify the controller about an upcoming mode switch before the switch occurs. We propose preview automaton, a mathematical construct that captures both the preview information and the possible constraints on switching signals. Then, we study safety control synthesis problem with preview information. An algorithm that computes the maximal invariant set in a given mode-dependent safe set is developed. These ideas are demonstrated on two case studies from autonomous driving domain.