Name
Abstract | ||
|---|---|---|
The scenario-based testing of operational vehicle safety presents a set of principal other vehicle (POV) trajectories that seek to force the subject vehicle (SV) into a certain safety-critical situation. Current scenarios are mostly (i) statistics-driven: inspired by human driver crash data, (ii) deterministic: POV trajectories are pre-determined and are independent of SV responses, and (iii) overly simplified: defined over a finite set of actions performed at the abstracted motion planning level. Such scenario-based testing (i) lacks severity guarantees, (ii) has predefined maneuvers making it easy for an SV with intelligent driving policies to game the test, and (iii) is inefficient in producing safety-critical instances with limited and expensive testing effort. We propose a model-driven online feedback control policy for multiple POVs which propagates efficient adversarial trajectories while respecting traffic rules and other concerns formulated as an admissible state-action space. The approach is formulated in an anchor-template hierarchy structure, with the template model planning inducing a theoretical SV capturing guarantee under standard assumptions. The planned adversarial trajectory is then tracked by a lower-level controller applied to the full-system or the anchor model. The effectiveness of the methodology is illustrated through various simulated examples with the SV controlled by either parameterized self-driving policies or human drivers. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.23919/ACC50511.2021.9482763 | 2021 American Control Conference (ACC) |
Keywords | DocType | ISSN |
modeled approach,online adversarial test,scenario-based testing,operational vehicle safety presents,principal other vehicle trajectories,subject vehicle,safety-critical situation,current scenarios,statistics-driven,human driver crash data,POV trajectories,finite set,abstracted motion planning level,intelligent driving policies,safety-critical instances,expensive testing effort,model-driven,feedback control policy,multiple POVs,efficient adversarial trajectories,admissible state-action space,template model,planned adversarial trajectory,lower-level controller,anchor model,self-driving policies,human drivers | Conference | 0743-1619 |
ISBN | Citations | PageRank |
978-1-7281-9704-3 | 1 | 0.36 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Linda Capito | 1 | 1 | 0.36 |
| Bowen Weng | 2 | 1 | 0.36 |
| Umit Ozguner | 3 | 1 | 0.36 |
| Keith Redmill | 4 | 101 | 13.99 |