Control and Estimation for Provably Safe Interactive Driver Assistance

Project Abstract/Statement of Work:

This project will investigate parallel autonomy to improve vehicle safety. We propose to develop tools for obtaining provably-correct safety barriers offline, and methods for using them online in order to interact with and assist the human driver. We propose a contract-based modular design approach for computation of these safety barriers. The main technical novelties include: (i) incorporating sensing/perception capabilities, captured by a contract, while computing safety barriers, (ii) integrating estimation to identify valid, less conservative safety barriers online, and (iii) providing principled means to evaluate trade-offs between sensing/perception/estimation uncertainty and safety using multi-scale dynamic models. As a side benefit, interactive displays of safety barriers, e.g., via a speedometer with colored indicators similar to a temperature gauge, can make drivers aware of the shared control and the safety margin of their actions.