Experimental testing of a control barrier function on an automated vehicle in live multi-lane traffic
Experimental testing of a control barrier function on an automated vehicle in live multi-lane traffic
复制标题
实时多车道交通中自动车辆控制屏障功能的实验测试
DOI：
10.1109/di-cps56137.2022.00011
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Work, Daniel B.
中科院分区：
文献类型：
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作者：
Gunter, George;Nice, Matthew;Bunting, Matt;Sprinkle, Jonathan;Work, Daniel B.
本文通过实验测试了控制屏障功能 (CBF) 的实现，该功能旨在保证实时交通中自动驾驶车辆 (AV) 上的汽车跟随的最小时间间隙，其中大部分发生在高速公路上。 CBF 监督 AV 速度上名义上不安全的 PID 控制器。实验测试持续两个月的驾驶时间，其中收集了 1.9 小时的数据，其中 CBF 和标称控制器处于活动状态。我们发现，根据车辆车载雷达单元的测量，观察到了违反保证最小时间间隙的情况。违规行为有两个不同的原因。首先，在多车道交通中，其他车辆的切入代表了外部干扰，可能会立即违反 CBF 提供的最小保证时间间隙。当切入发生时，CBF 最终会让车辆返回到安全时间间隙。其次，即使没有发生切入，系统模型的不准确性（例如传感器错误和延迟、执行器错误和延迟）也可能导致违反最小时间间隙。与仅使用不安全的名义控制法时发生的违规行为相比，这些违规行为很小。
This paper experimentally tests an implementation of a control barrier function (CBF) designed to guarantee a minimum time-gap in car following on an automated vehicle (AV) in live traffic, with a majority occurring on freeways. The CBF supervises a nominal unsafe PID controller on the AV’s velocity. The experimental testing spans two months of driving, of which 1.9 hours of data is collected in which the CBF and nominal controller are active. We find that violations of the guaranteed minimum time-gap are observed, as measured by the vehicle’s on-board radar unit. There are two distinct causes of the violations. First, in multi-lane traffic, Cut-ins from other vehicles represent external disturbances that can immediately violate the minimum guaranteed time gap provided by the CBF. When cut-ins occur, the CBF does eventually return the vehicle to a safe time gap. Second, even when cut-ins do not occur, system model inaccuracies (e.g., sensor error and delay, actuator error and delay) can lead to violations of the minimum time-gap. These violations are small relative to the violations that would have occurred using only the unsafe nominal control law.