论文标题
自动驾驶汽车安全有效的避免碰撞控制
Safe and efficient collision avoidance control for autonomous vehicles
论文作者
论文摘要
我们研究了一个新的原则，以进行安全有效的避免碰撞，该原理从受控车辆的动态及其环境中采用了数学上优雅和一般的框架。车辆动力学的特征是预先计算的功能，以加速和制动至给定的速度。环境是通过时间的函数建模的，在障碍物是固定或朝着相同方向移动的假设下，将自由距离与受控车辆前进。主要结果是执行车辆速度的控制策略，以免碰撞并有效地使用前方的自由距离，前提是一定的初始安全条件。研究原理应用于两个离散控制器的设计，一个同步和另一种异步。我们表明，两个控制器都是通过施工安全的。此外，我们表明它们的效率严格提高，以减少离散化的粒度。我们介绍了两个控制器的实现，他们在Carla自主驾驶模拟器中进行了实验评估，并研究了各种性能问题。
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics is characterized by pre-computed functions for accelerating and braking to a given speed. Environment is modeled by a function of time giving the free distance ahead of the controlled vehicle under the assumption that the obstacles are either fixed or are moving in the same direction. The main result is a control policy enforcing the vehicle's speed so as to avoid collision and efficiently use the free distance ahead, provided some initial safety condition holds. The studied principle is applied to the design of two discrete controllers, one synchronous and another asynchronous. We show that both controllers are safe by construction. Furthermore, we show that their efficiency strictly increases for decreasing granularity of discretization. We present implementations of the two controllers, their experimental evaluation in the Carla autonomous driving simulator and investigate various performance issues.
