Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results
Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results
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FollowerStopper的可达性分析：安全性分析和实验结果
DOI：
10.1109/icra48506.2021.9561360
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
J. Sprinkle
中科院分区：
文献类型：
--
作者：
Fang;Marsalis T. Gibson;R. Bhadani;A. Bayen;J. Sprinkle
受早期工作和新算法FollowerStopper的开发的启发，本文使用可达性分析来验证FollowerStopper算法的安全性，FollowerStopper算法是一种为抑制走走停停的交通波动而设计的控制器。通过我们的物理平台收集的超过1100英里的驾驶数据，我们通过将其与人类驾驶行为进行比较来验证我们的分析结果。FollowerStopper控制器已被证明可以在低速时抑制断断续续的交通波动，但之前对其相对安全性的分析仅限于加速度的上限和下限。为了扩展前面的分析，可达性分析被用来调查在最初测试的速度下以及在更高速度下的安全性。给出了两种不同准则下的安全分析公式：基于距离的和基于时间间隔的。根据距离标准，FollowerStopper被认为是安全的。然而，模拟结果表明，FollowerStopper并不是人类司机的代表-它紧跟在车辆后面，特别是在人类认为不安全的距离。另一方面，在基于时间间隔的安全分析下，FollowerStopper不再被认为是安全的。为了满足基于时间的安全准则，提出了一种改进的FollowerStopper。对FollowerStopper的仿真结果表明，FollowerStopper的响应更好地反映了驾驶员的行为。
Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop-and-go traffic waves. With more than 1100 miles of driving data collected by our physical platform, we validate our analysis results by comparing it to human driving behaviors. The FollowerStopper controller has been demonstrated to dampen stop-and-go traffic waves at low speed, but previous analysis on its relative safety has been limited to upper and lower bounds of acceleration. To expand upon previous analysis, reachability analysis is used to investigate the safety at the speeds it was originally tested and also at higher speeds. Two formulations of safety analysis with different criteria are shown: distance-based and time headway-based. The FollowerStopper is considered safe with distance-based criterion. However, simulation results demonstrate that the FollowerStopper is not representative of human drivers - it follows too closely behind vehicles, specifically at a distance human would deem as unsafe. On the other hand, under the time headway-based safety analysis, the FollowerStopper is not considered safe anymore. A modified FollowerStopper is proposed to satisfy time-based safety criterion. Simulation results of the proposed FollowerStopper shows that its response represents human driver behavior better.
DOI：
10.1016/j.trc.2018.02.005
发表时间：
2018-04-01
影响因子：
8.3
作者：
Stern, Raphael E.;Cui, Shumo;Work, Daniel B.
通讯作者：
Work, Daniel B.
DOI：
10.1109/tits.2018.2842115
发表时间：
2019-05-01
影响因子：
8.5
作者：
Lunze, Jan
通讯作者：
Lunze, Jan