CPS:Medium: High Confidence Active Safety Control in Automotive Cyber-Physical Systems

本研究的目的是研究先进车辆动力学控制系统的形式化设计与验证。 该方法是考虑车辆-驾驶员-道路系统作为一个信息物理系统（CPS）的重点是三个关键组成部分：（i）轮胎-道路的相互作用，（ii）驾驶员-车辆的相互作用，控制器的设计与验证。为了考虑轮胎-路面摩擦系数的不确定性，开发了使用嵌入轮胎中的自供电无线传感器来量化和估计路面摩擦系数的不确定性的方法。道路互动 考虑到驾驶员与车辆的相互作用，开发了通过使用车载摄像头和车身无线传感器实时识别标称驾驶员行为和不确定性界限的工具。 预测混合监控方案将保证车辆在所有可能的不确定性水平下安全运行。特别是，对于控制器的设计和验证，CPS的自主水平是不断适应作为一个功能的人和环境条件和他们的不确定性界限量化考虑轮胎-道路和驾驶员-车辆interaction.High confidence is critical in all human operated and supervised cyber-physical systems. 这些包括环境监测、外科手术、电力网络和任何运输CPS。 当人类和环境的不确定性界限可以预测，安全可以鲁棒地保证一个适当的控制器的设计和验证。 这避免了冗长和昂贵的试错设计程序，并大大提高了他们的信心水平。 研究生，本科生和代表性不足的工程专业学生通过课堂教学，参与研究以及与轮胎，车辆主动安全和无线传感器领域的工业合作伙伴进行实质性互动，从该项目中受益。

The objective of this research is to study the formal design and verification of advanced vehicle dynamics control systems. The approach is to consider the vehicle-driver-road system as a cyber-physical system (CPS) by focusing on three critical components: (i) the tire-road interaction; (ii) the driver-vehicle interaction; and (iii) the controller design and validation.Methods for quantifying and estimating the uncertainty of the road friction coefficient by using self-powered wireless sensors embedded in the tire are developed for considering tire-road interaction. Tools for real-time identification of nominal driver behavior and uncertainty bounds by using in-vehicle cameras and body wireless sensors are developed for considering driver-vehicle interaction. A predictive hybrid supervisory control scheme will guarantee that the vehicle performs safely for all possible uncertainty levels. In particular, for controller design and validation, the CPS autonomy level is continuously adapted as a function of human and environment conditions and their uncertainty bounds quantified by considering tire-road and driver-vehicle interaction.High confidence is critical in all human operated and supervised cyber-physical systems. These include environmental monitoring, telesurgery, power networks, and any transportation CPS. When human and environment uncertainty bounds can be predicted, safety can be robustly guaranteed by a proper controller design and validation. This avoids lengthy and expensive trial and error design procedures and drastically increases their confidence level. Graduate, undergraduate and underrepresented engineering students benefit from this project through classroom instruction, involvement in the research and substantial interaction with industrial partners from the fields of tires, vehicle active safety, and wireless sensors.