摘要
针对自主车辆安全性验证在理论的完备性上无法得到保证的问题,提出一种使用哈密尔顿—雅克比(Hamilton-Jacobi)方程求解车辆运行安全状态空间方法。定义车辆运行不安全状态集合为目标集,逆时间求解目标集对应的车辆运行安全状态边界(可达集边界),并采用具有界面追踪和形状建模数值技术的水平集方法表示目标集和可达集。为了确定目标集在向量场作用下的后向可达集,提出采用求解Hamilton-Jacobi偏微分方程的粘性解的方法。自主车辆追逃安全预警范围验证结果表明,该方法能够提高自主车辆安全决策验证的置信水平,增强自主车辆安全性验证的可靠性。
Because safety verification of autonomous vehicle cannot be guaranteed in the completeness of the theory,a method to solve the safe state space of vehicle operation by using HamiltonJacobi partial equation is proposed. The set of unsafe states of vehicle operation is defined as the target set,and then the safe state boundary of vehicle operation( reachable set) corresponding to the target set is solved in inverse time. The target set and the reachable set are represented by level set method with the numerical techniques of interface tracking and shape modeling. In order to determine the backward reachable set which is obtained from the target set under the action of vector field,a method to solve the viscosity solution of Hamilton-Jacobi partial differential equation is presented. The verification results of safety warning range about two autonomous vehicles ' pursuitevasion games show that the proposed method can increase the confidence level of safety verification approach for autonomous vehicle decision and improve the reliability of the systemsafety verification.
引文
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