FMitF: Collaborative Research: Track I: Predictive Online Safety Analysis from Multi-hop State Estimates for High-autonomy on Highways

FMITF：合作研究：第一轨：通过多跳状态估计进行预测在线安全分析，以实现高速公路的高度自治

• 批准号: 1918123
• 负责人: Necmiye Ozay
• 金额: $ 26万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-10-01 至 2023-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1918123&HistoricalAwards=false
• 关键词: FMitF; Collaborative; Research; Track; Predictive

The goal of this project is to bring safety assurance to autonomous and semi-autonomous vehicles. The approach is to lengthen the time that a car can predict its driving path, and share this path with surrounding vehicles. With these expanded predictions, it is possible to estimate the current and future behaviors of vehicles, according to their design models. Currently, online formal safety analysis can promise guarantees and oversight, but overly conservative approaches can lead to bad driving. This is in contrast to the use of test-driving data and machine learning to build driving models, which are difficult to analyze. The project aims to discover the right balance by computationally (1) estimating the current state of the autonomous vehicle and its multi-hop environment from sensor data, (2) predicting vehicle trajectories 4-6 seconds into future, and (3) checking the models and predictions---all in milliseconds. A new scientific workshop will be created to explore similar issues in autonomy, in addition to a new undergraduate course on autonomy.The project aims to deliver (1) new sensor-fusion algorithms over Vehicle-to-Infrastructure/Vehicle (V2X) systems, (2) a first-of-its-kind open, machine-interpretable library of agent models for driving predictions, (3) algorithms for model identification, and (4) algorithms for checking safety online. These modules will be integrated in an end-to-end system --- OmniVisor --- and evaluated in realistic accident-prone scenarios with real vehicles in University of Michigan's Mcity facility. The research will build connections across the disciplines of formal methods, hybrid dynamical systems, estimation and detection theory, and mobile networking. If successful OmniVisor will provide a scientific basis for obtaining safety assurances for vehicles in mixed-autonomy scenarios and experimentally demonstrate the approach on the road with real vehicles.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目的目标是为自动驾驶和半自动驾驶汽车提供安全保障。该方法是延长汽车可以预测其行驶路径的时间，并与周围的车辆共享该路径。通过这些扩展的预测，可以根据车辆的设计模型来估计车辆的当前和未来行为。目前，在线正式的安全分析可以保证和监督，但过于保守的方法可能导致不良驾驶。这与使用试驾数据和机器学习来构建驾驶模型形成了鲜明对比，这些模型很难分析。该项目旨在通过计算来发现正确的平衡：（1）根据传感器数据估计自动驾驶汽车的当前状态及其多跳环境，（2）预测未来4 - 6秒的车辆轨迹，以及（3）检查模型和预测-所有这些都在毫秒内。该项目旨在提供（1）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（2）第一个开放的、机器可解释的驾驶预测代理模型库，（3）模型识别算法，（4）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（5）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（6）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（7）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（8）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（9）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（10）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（11）车辆到基础设施/车辆（V2X）系统上的新传感器融合算法，（12）车辆到基础设施/车辆（和（4）在线检查安全的算法。这些模块将被集成到一个端到端的系统-OmniVisor-并在密歇根大学Mcity设施中使用真实的车辆在现实的事故多发场景中进行评估。该研究将建立跨学科的正式方法，混合动力系统，估计和检测理论，和移动的网络连接。如果成功，OmniVisor将为混合自动驾驶场景下的车辆获得安全保证提供科学依据，并在道路上用真实的车辆进行实验演示。该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

On the Convergence of the Backward Reachable Sets of Robust Controlled Invariant Sets For Discrete-time Linear Systems

离散时间线性系统鲁棒受控不变集后向可达集的收敛性

• DOI: 10.1109/cdc51059.2022.9993110
• 发表时间: 2022
• 期刊: IEEE
• 作者: Liu, Zexiang;Ozay, Necmiye
• 通讯作者: Ozay, Necmiye

Compositional safety rules for inter-triggering hybrid automata

相互触发混合自动机的组合安全规则

• DOI: 10.1145/3447928.3456659
• 发表时间: 2021
• 期刊: Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control
• 作者: Rutledge, Kwesi J.;Chou, Glen;Ozay, Necmiye
• 通讯作者: Ozay, Necmiye

Continuous integration and testing for autonomous racing software: An experience report from GRAIC

自动驾驶赛车软件的持续集成和测试：来自 GRAIC 的经验报告

• DOI: 10.13140/rg.2.2.28270.33605
• 发表时间: 2021
• 期刊: Workshop on OPPORTUNITIES AND CHALLENGES WITH AUTONOMOUS RACING
• 作者: Jiang, Minghao;Miller, Kristina;Sun, Dawei;Liu, Zexiang;Jia, Yixuan;Datta, Arnab;Ozay, Necmiye;Mitra, Sayan
• 通讯作者: Mitra, Sayan

Connected and automated road vehicles: state of the art and future challenges

• DOI: 10.1080/00423114.2020.1741652
• 发表时间: 2020-03-25
• 期刊: VEHICLE SYSTEM DYNAMICS
• 影响因子: 3.6
• 作者: Ersal, Tulga;Kolmanovsky, Ilya;Orosz, Gabor
• 通讯作者: Orosz, Gabor

Automaton-based Implicit Controlled Invariant Set Computation for Discrete-Time Linear Systems

离散时间线性系统基于自动机的隐式受控不变集计算

• DOI: 10.1109/cdc45484.2021.9683574
• 发表时间: 2021
• 期刊: IEEE Conference on Decision and Control
• 作者: Liu, Zexiang;Anevlavis, Tzanis;Ozay, Necmiye;Tabuada, Paulo
• 通讯作者: Tabuada, Paulo