Conformal Prediction of Motion Control Performance for an Automated Vehicle in Presence of Actuator Degradations and Failures
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
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| _version_ | 1866911970464104448 |
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| author | Schubert, Richard Loba, Marvin Sünnemann, Jasper Stolte, Torben Maurer, Markus |
| author_facet | Schubert, Richard Loba, Marvin Sünnemann, Jasper Stolte, Torben Maurer, Markus |
| contents | Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's capabilities and limitations. In this paper, we propose a data-driven approach for deriving such a self-representation model for the motion controller of an automated vehicle. A conformalized prediction model is learned and allows estimating how operational conditions as well as potential degradations and failures of the vehicle's actuators impact motion control performance. During runtime behavior generation, our predictor can provide a heuristic for determining the admissible action space. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_16500 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Conformal Prediction of Motion Control Performance for an Automated Vehicle in Presence of Actuator Degradations and Failures Schubert, Richard Loba, Marvin Sünnemann, Jasper Stolte, Torben Maurer, Markus Robotics Systems and Control Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's capabilities and limitations. In this paper, we propose a data-driven approach for deriving such a self-representation model for the motion controller of an automated vehicle. A conformalized prediction model is learned and allows estimating how operational conditions as well as potential degradations and failures of the vehicle's actuators impact motion control performance. During runtime behavior generation, our predictor can provide a heuristic for determining the admissible action space. |
| title | Conformal Prediction of Motion Control Performance for an Automated Vehicle in Presence of Actuator Degradations and Failures |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2404.16500 |