非構造・部分遮蔽環境における安全で決定論的な軌道計画
Safe, Deterministic Trajectory Planning for Unstructured and Partially Occluded Environments
セルオートマトンによる歩行者安全モニタとモデル予測制御を組み合わせ、駐車場のような非構造・部分遮蔽環境で決定論的かつ認証可能な安全走行を実現する軌道計画手法を提案した。
著者: Sebastian vom Dorff, Maximilian Kneissl, Martin Fränzle
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner based on model predictive control which interoperates with a monitoring system for pedestrian safety based on cellular automata. The combined planner-monitor system is demonstrated on the example of a narrow indoor parking environment. The system features deterministic behavior, mitigating the immanent risk of black boxes and offering full certifiability. By using fundamental and conservative prediction models of pedestrians the monitor is able to determine a safe drivable area in the partially occluded and unstructured parking environment. The information is fed to the trajectory planner which ensures the vehicle remains in the safe drivable area at any time through constrained optimization. We show how the approach enables solving plenty of situations in tight parking garage scenarios. Even though conservative prediction models are applied, evaluations indicate a performant system for the tested low-speed navigation.