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和验证。该方法将车辆-驾驶员-道路系统视为一个网络-物理系统(CPS)，重点关注轮胎-路面相互作用、驾驶员-车辆相互作用和控制器设计与验证三个关键部分。为了考虑驾驶员与车辆的相互作用，开发了利用车载摄像头和车身无线传感器实时识别驾驶员名义行为和不确定性界限的工具。预测混合监控方案将确保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的自主性水平作为人类和环境条件的函数不断地调整，并通过考虑轮胎-道路和驾驶员-车辆的相互作用来量化它们的不确定性界限。在所有人类操作和监督的网络物理系统中，高置信度是至关重要的。这些包括环境监测、远程外科手术、电力网络和任何交通CP。当人类和环境的不确定性边界可以预测时，适当的控制器设计和验证可以有力地保证安全性。这避免了冗长和昂贵的试验和错误设计程序，并极大地提高了他们的置信度。研究生、本科生和代表性不足的工程学学生通过课堂教学、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.