Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation

原文アブストラクト

Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicted clearance, time to collision, and required deceleration. A model-predictive controller that enforces safety through explicit con- straints computes, as a by-product of every control step, a second information channel that such monitors ignore: the Karush-Kuhn-Tucker multipliers of its constrained optimization, which measure the marginal control effort spent to maintain safety against each obstacle. This paper evaluates whether a horizon-weighted sum of those multipliers, a dual stress signal, provides a hazard monitor complementary to the geometric warnings the same state already supports. We compare it against a battery of fifteen geometric detectors tuned to a matched false-alarm budget, on preregistered held-out crossing scenarios driven through a physics simulator. The stress alarm actionably flags 4.7 times as many collisions missed by the entire geometric battery as the geometric battery flags in return (85 versus 18); combined, the two channels warn of three quarters of the collisions for which braking remained feasible, against under half for the geometric battery alone.