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Combining Behavior-Based and Contract-Based Control Architectures for Behavior Optimization of Networked Autonomous Vehicles in Unstructured Environments

 
: Müller, Sebastian; Wolf, Patrick; Berns, Karsten; Liggesmeyer, Peter

:

Berns, K.:
Commercial Vehicle Technology 2018. 5th Commercial Vehicle Technology Symposium, CVT 2018. Proceedings : Held on March 13 to 15, 2018 at the Technische Universität Kaiserslautern
Wiesbaden: Springer Fachmedien, 2018
ISBN: 978-3-658-21299-5 (Print)
ISBN: 978-3-658-21300-8 (Online)
S.324-335
Commercial Vehicle Technology Symposium (CVT) <5, 2018, Kaiserslautern>
Englisch
Konferenzbeitrag
Fraunhofer IESE ()
Behavior-based Control; Dynamic Behavior Optimization; Contract-based Control; Safety; Safe Collaborative Modes; Safe Adaptation Processes; Runtime Safety Evaluation

Abstract
The driving behavior of networked autonomous vehicles can be optimized with collaborative knowledge by sharing safety-relevant runtime data and reliably integrating it into the individual vehicle platforms. Since the highly dynamic application context in the vehicle domain is safety-critical, the behavior adaptation process must be performed in a correct and predictable manner despite networking, reconfiguration and integration of external services. The Dynamic Safety Contracts (DSCs) approach provides a systematic, methodical and verifiable composition concept for the integration of external services at runtime in order to become certifiable for future applications. For a dedicated collaborative mode, a virtual safety cage can be specified with DSCs to derive the permitted degrees of freedom. In hazardous situations while driving, a predefined safe reaction behavior can be triggered in this way. Especially in highly unstructured environments like the off-road domain, collaborative knowledge such as additional spatial perspectives can improve the individual capabilities of environmental perception and ultimately the overall system behavior. For this challenging application domain a robust autonomous control like the integrated Behavior- Based Control (iB2C) is most suitable. In this paper, we show the benefits of a combined control architecture.

: http://publica.fraunhofer.de/dokumente/N-518402.html