Human assist control considering shape of target system

被引：9

作者：

Furusawa, Shoma ^{[1
]}

Nakamura, Hisakazu ^{[1
]}

机构：

[1] Tokyo Univ Sci, Dept Elect Engn, Fac Sci & Technol, Yamazaki 2641, Noda, Chiba 2788510, Japan

来源：

ASIAN JOURNAL OF CONTROL | 2021年 / 23卷 / 03期

基金：

日本学术振兴会;

关键词：

control barrier function; human assist control; nonlinear system; BARRIER FUNCTION; COLLISION-AVOIDANCE; VEHICLES; SAFETY;

D O I：

10.1002/asjc.2548

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Human operational errors, especially those that result in car crashes, are recognized as a significant issue in modern society. Recently, assistance with control systems operated by humans has generated interest in its detailed investigation. Previously, to avoid collisions with obstacles as a result of arbitrary human input, control barrier function-based collision avoidance methods have been utilized. However, safety can only be guaranteed in the condition that a target system is a point. In this paper, we propose a new control barrier function that can guarantee the safety of the entire shape of the control target. We design a lane-keeping assistance system that considers the shape of a target system for a rear-wheel-drive car with a control barrier function. The effectiveness of the proposed method is confirmed by computer simulation.

引用

页码：1185 / 1194

页数：10

共 23 条

[1] Control Barrier Function Based Quadratic Programs for Safety Critical Systems [J].

Ames, Aaron D. ;

Xu, Xiangru ;

Grizzle, Jessy W. ;

Tabuada, Paulo .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (08) :3861-3876

[2] Self-driving cars: A survey [J].

Badue, Claudine ;

Guidolini, Ranik ;

Carneiro, Raphael Vivacqua ;

Azevedo, Pedro ;

Cardoso, Vinicius B. ;

Forechi, Avelino ;

Jesus, Luan ;

Berriel, Rodrigo ;

Paixao, Thiago M. ;

Mutz, Filipe ;

Veronese, Lucas de Paula ;

Oliveira-Santos, Thiago ;

De Souza, Alberto F. .

EXPERT SYSTEMS WITH APPLICATIONS, 2021, 165

[3] Model-Based Threat Assessment for Avoiding Arbitrary Vehicle Collisions [J].

Brannstrom, Mattias ;

Coelingh, Erik ;

Sjoberg, Jonas .

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2010, 11 (03) :658-669

[4] Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments [J].

Brito, Bruno ;

Floor, Boaz ;

Ferranti, Laura ;

Alonso-Mora, Javier .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (04) :4459-4466

[5]

Cannarsa P., 2004, Progress in Nonlinear Differential Equations and their Applications, V58

[6] Maneuver-Based Trajectory Planning for Highly Autonomous Vehicles on Real Road With Traffic and Driver Interaction [J].

Glaser, Sebastien ;

Vanholme, Benoit ;

Mammar, Said ;

Gruyer, Dominique ;

Nouveliere, Lydie .

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2010, 11 (03) :589-606

[7] Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems [J].

Glotfelter, Paul ;

Buckley, Ian ;

Egerstedt, Magnus .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (02) :1303-1310

[8]

Gronwall TH, 1918, ANN MATH, V20, P292

[9] Contact Assist Control Barrier Function for Human Assist Control [J].

Hayashi, Y. ;

Igarashi, M. ;

Nakamura, H. .

IFAC PAPERSONLINE, 2019, 52 (16) :741-746

[10] Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction [J].

Huber, Lukas ;

Billard, Aude ;

Slotine, Jean-Jacques .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (02) :1462-1469

← 1 2 3 →