论文标题
针对连接的自动卡车的安全控制器集成方案的实验验证
Experimental Validation of a Safe Controller Integration Scheme for Connected Automated Trucks
论文作者
论文摘要
实现安全有效的驾驶是连接自动车辆（CAVS）控制器设计中的主要挑战之一。分别解决这些目标并整合所得控制器通常更方便。在这项研究中，我们提出了一个控制器集成方案，以将基于性能的控制器和面向安全的控制器安全地融合，以安全地进行CAV的纵向运动。所得的结构与大量的控制器兼容，并提供了灵活的，可以单独设计每个控制器，而不会影响其他控制器的性能。我们使用能源最佳控制器和面向安全的连接巡航控制器在连接的自动卡车上实施了建议的安全集成方案。我们通过在两种情况下与全尺寸卡车进行实验来验证安全集成的前提：在测试轨道上进行的受控实验，在公共高速公路上进行现实世界实验。在这两种情况下，我们都可以在不违反安全的情况下实现节能驾驶。
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting controllers. In this study, we propose a controller integration scheme to fuse performance-based controllers and safety-oriented controllers safely for the longitudinal motion of a CAV. The resulting structure is compatible with a large class of controllers, and offers flexibility to design each controller individually without affecting the performance of the others. We implement the proposed safe integration scheme on a connected automated truck using an optimal-in-energy controller and a safety-oriented connected cruise controller. We validate the premise of the safe integration through experiments with a full-scale truck in two scenarios: a controlled experiment on a test track and a real-world experiment on a public highway. In both scenarios, we achieve energy efficient driving without violating safety.
