Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866913470650253312 |
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| author | Zhang, Zengjie Sun, Zhiyong Haesaert, Sofie |
| author_facet | Zhang, Zengjie Sun, Zhiyong Haesaert, Sofie |
| contents | This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent vehicles and model their intentions as discrete-valued random variables. Then, we focus on a control objective specified as belief-space temporal logic specifications. From this stochastic control problem, we derive a sound deterministic control problem using stochastic expansion and solve it using shrinking-horizon model predictive control. The solved intention-aware controller allows a vehicle to adjust its behaviors according to its opponents' intentions. It ensures provable safety by restricting the probabilistic risk under a desired level. We show with experimental studies that the proposed method ensures strict limitation of risk probabilities, validating its efficacy in autonomous driving cases. This work provides a novel solution for the risk-aware control of interactive vehicles with formal safety guarantees. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_09037 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion Zhang, Zengjie Sun, Zhiyong Haesaert, Sofie Systems and Control This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent vehicles and model their intentions as discrete-valued random variables. Then, we focus on a control objective specified as belief-space temporal logic specifications. From this stochastic control problem, we derive a sound deterministic control problem using stochastic expansion and solve it using shrinking-horizon model predictive control. The solved intention-aware controller allows a vehicle to adjust its behaviors according to its opponents' intentions. It ensures provable safety by restricting the probabilistic risk under a desired level. We show with experimental studies that the proposed method ensures strict limitation of risk probabilities, validating its efficacy in autonomous driving cases. This work provides a novel solution for the risk-aware control of interactive vehicles with formal safety guarantees. |
| title | Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2404.09037 |