论文标题
转向动作感知的自适应巡航控制，用于遥控驾驶
Steering Action-aware Adaptive Cruise Control for Teleoperated Driving
论文作者
论文摘要
在本文中，提出了针对遥控道路车辆的转向动作自适应巡航控制（ACC）方法。为了使车辆保持安全状态，ACC方法可以覆盖人类操作员的速度控制命令。安全状态被定义为可以安全停止车辆的状态，无论操作员采用哪种转向措施。这是通过首先对各种潜在的未来轨迹进行采样来实现的。在第二阶段，假设风险最高的轨迹，则优化了安全舒适的速度轮廓。这为车辆提供了安全的速度控制命令。在模拟中，将方法的特性与能够覆盖指挥转向角度和速度的模型预测控制方法进行了比较。此外，在使用1：10尺度的车辆测试台的远程运输实验中，即使操作员的控制命令将导致碰撞，提议的ACC方法也可以确保车辆的安全。
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control commands. The safe state is defined as a state from which the vehicle can be stopped safely, no matter which steering actions are applied by the operator. This is achieved by first sampling various potential future trajectories. In a second stage, assuming the trajectory with the highest risk, a safe and comfortable velocity profile is optimized. This yields a safe velocity control command for the vehicle. In simulations, the characteristics of the approach are compared to a Model Predictive Control-based approach that is capable of overriding both, the commanded steering angle as well as the velocity. Furthermore, in teleoperation experiments with a 1:10-scale vehicle testbed, it is demonstrated that the proposed ACC approach keeps the vehicle safe, even if the control commands from the operator would have resulted in a collision.
