Steer Command Safety Filter Using Preview Lane-Keeping Constraints
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Solution Overview
Problem
Conventional autonomous vehicle systems lack effective safety measures for controlling lateral movement, often resulting in unintended lane boundary violations due to the absence of optimal safety nets and consideration of additional data sources like inertial monitoring units and electronic maps, which can lead to safety concerns.
Innovation Solution
A safety filter system that modifies steer commands using a lane-keeping safe set with preview data, incorporating characteristics of the road ahead, vehicle dynamics, and actuator dynamics, to ensure safe lateral movement by formulating safety constraints as control barrier functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional autonomous vehicle systems control lateral movement without safety filters, then the system complexity is reduced, but safety is compromised due to unintended lane boundary violations
Solution Approach 1:
A safety filter is introduced as an intermediary component between the lateral movement controller and the vehicle's steering system. This filter receives steering commands, validates them against safety constraints (lane boundary violations, roll-over risks), and blocks unsafe commands while allowing safe ones to pass through, thereby improving safety without requiring complete system redesign
Solution Approach 2:
The safety filter performs preliminary validation of steering commands before they are executed by the vehicle system. By checking commands against pre-defined safety constraints and environmental data (road boundaries, vehicle state) in advance, the system prevents unsafe actions rather than reacting to them after occurrence
2Measurement precision
If preview data from multiple sources (IMU, electronic maps, road characteristics) is incorporated into safety filtering, then measurement precision and safety are improved, but device complexity increases
Solution Approach 1:
The safety filter is designed as a multi-functional system that processes diverse data types from multiple sources (IMU sensor data, electronic map information, road characteristic data, vehicle state parameters) through a unified constraint validation framework. This single system handles multiple functions: boundary violation detection, roll-over risk assessment, and steering command validation, reducing the need for separate processing systems for each data type
Data Source
AI summary
Methods, systems, and non-transitory computer readable media are configured to perform operations comprising obtaining, by a computing system, a lane-keeping safe set associated with constraints on lateral movement of a vehicle traveling on a road, generating, by the computing system, a lane-keeping safe set with preview based on the lane-keeping safe set and preview data, the preview data associated with characteristics of the road ahead of the vehicle, receiving, by the computing system, a steer command to control the lateral movement of the vehicle, and generating, by the computing system, a safe steer command by modifying the steer command based on the lane-keeping safe set with preview.