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

CPS：中：汽车网络物理系统中的高可信度主动安全控制

• 批准号: 0931437
• 负责人: Francesco Borrelli
• 金额: $ 136.89万
• 依托单位: University of California-Berkeley
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-09-01 至 2012-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0931437&HistoricalAwards=false
• 关键词: CPS; Medium; Confidence; Active; Safety

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.

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。该方法是通过关注三个关键组成部分，将车辆-驾驶员-道路系统视为一个网络物理系统（CPS）：(i)轮胎-道路相互作用；（二）人车互动；（三）控制器的设计与验证。考虑轮胎与路面的相互作用，提出了利用嵌入轮胎的自供电无线传感器对道路摩擦系数的不确定性进行量化和估计的方法。在考虑人车交互的情况下，开发了利用车载摄像头和车载无线传感器实时识别驾驶员行为和不确定性边界的工具。预测混合监督控制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自治水平作为人类和环境条件的函数不断调整，并通过考虑轮胎-道路和驾驶员-车辆交互来量化其不确定性界限。在所有人类操作和监督的网络物理系统中，高置信度至关重要。这些包括环境监测、远程手术、电网和任何交通CPS。当人与环境的不确定性界限能够被预测时，通过适当的控制器设计和验证，可以鲁棒地保证系统的安全性。这避免了冗长和昂贵的试验和错误设计过程，并大大提高了他们的信心水平。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的大量互动，研究生、本科生和代表性不足的工程专业学生都能从这个项目中受益。