论文标题
使用牛顿 - 拉夫森流动和障碍功能对自动驾驶汽车的交叉路口控制
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions
论文作者
论文摘要
本文涉及最近开发的非线性跟踪技术在交通十字路口对自动驾驶汽车的轨迹控制。该技术使用Newton-Raphson方法的流动版来控制对未来参考目标的预测系统输出。它的实现基于普通微分方程的数值解决方案，并且没有指定计算其未来参考轨迹的任何特定方法。因此，它可以在粗模型上使用相对简单的算法来计算目标轨迹，以及在紧密环路中进行轨迹控制的更精确的模型和算法。我们通过我们的跟踪技术以现存的预测流量计划和控制方法证明了这一点。此外，我们通过将控制屏障功能的框架应用于跟踪技术来保证安全规范。
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a flow version of the Newton-Raphson method for controlling a predicted system-output to a future reference target. Its implementations are based on numerical solutions of ordinary differential equations, and it does not specify any particular method for computing its future reference trajectories. Consequently it can use relatively simple algorithms on crude models for computing the target trajectories, and more-accurate models and algorithms for trajectory control in the tight loop. We demonstrate this point at an extant predictive traffic planning-and-control method with our tracking technique. Furthermore, we guarantee safety specifications by applying to the tracking technique the framework of control barrier functions.
