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

  • Sebastian Müller
  • Patrick Wolf
  • Karsten Berns
  • Peter Liggesmeyer
Conference paper
Part of the Proceedings book series (PROCEE)

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.

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Copyright information

© Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2018

Authors and Affiliations

  • Sebastian Müller
    • 1
  • Patrick Wolf
    • 2
  • Karsten Berns
    • 2
  • Peter Liggesmeyer
    • 1
  1. 1.Lehrstuhl Software Engineering: DependabilityTechnische Universität KaiserslauternKaiserslauternGermany
  2. 2.Lehrstuhl RobotersystemeTechnische Universität KaiserslauternKaiserslauternGermany

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