发表机构
École Polytechnique Fédérale de Lausanne; Toyota Research Institute; Stanford University（洛桑联邦理工学院; 丰田研究院; 斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种上下文条件化的 Hamilton-Jacobi 可达性方法，通过单一证书适应不同摩擦和几何条件，无需重新合成，并在全尺寸车辆上验证了其安全性和低性能代价。
AI 中文摘要
Hamilton-Jacobi 可达性为指定的动力学和安全约束构建安全证书，并将每个证书与其合成时的部署上下文绑定。我们提出一个问题：是否可以用一个单一的证书来表示一族依赖于上下文的安全问题，并在不同部署条件下进行查询，而无需重新合成。我们针对一个八状态车辆模型，学习了一个依赖于局部边界几何、摩擦系数和对抗性扰动规模的条件化后向可达管。几何信息通过一个自我框架边界观测引入，该观测定义了局部约束条件，而摩擦和扰动规模则作为显式的运行条件变量。这使得同一个值函数可以在摩擦系数从 0.4 到 2.0 的范围内进行查询，并且可以应用于合成时未出现的几何形状。在 11 个留出的评估几何形状上，该证书在全部测试的摩擦范围内保持了约束性，包括同时发生的几何和抓地力变化，同时干预率保持在 1.2 个百分点以内，速度保持在 0.09 m/s 以内，与使用测试几何知识重新合成的证书相比。随后，我们将该证书部署为采样离散时间控制屏障函数滤波器，应用于接近操控极限的全尺寸车辆。在对抗性驾驶和自主竞速的每一次硬件会话中，横向约束均得到保持，第 99 百分位的加速度幅度达到 0.99 g。在固定自主竞速控制器下评估的三个证书中，单圈时间变化仅为 3.1%，这表明上下文条件化的可达性证书可以以适度的性能代价迁移到合成时未出现的部署几何形状。
英文摘要
Hamilton-Jacobi reachability constructs safety certificates for specified dynamics and safety constraints, tying each certificate to the deployment context for which it is synthesized. We ask whether a single certificate can instead represent a family of context-dependent safety problems and be queried across deployment conditions without re-synthesis. We learn a backward reachable tube for an eight-state vehicle model conditioned on local boundary geometry, friction coefficient, and adversarial disturbance scale. Geometry enters through an ego-frame boundary observation that defines the local containment constraint, while friction and disturbance scale enter as explicit operating-condition variables. This allows the same value function to be queried across friction coefficients from 0.4 to 2.0 and on geometries absent from synthesis. On 11 held-out evaluation geometries, the certificate maintains containment across the full tested friction range, including simultaneous geometry and grip shifts, while remaining within 1.2 percentage points in intervention rate and 0.09 m/s in speed of certificates re-synthesized with knowledge of the test geometry. We then deploy the certificate as a sampled discrete-time control barrier function filter on a full-scale vehicle near the handling limit. Lateral containment holds in every hardware session under both adversarial driving and autonomous racing, with 99th-percentile acceleration magnitude reaching 0.99 g. Across three certificates evaluated under a fixed autonomous racing controller, lap time varies by only 3.1%, demonstrating that a context-conditioned reachability certificate can transfer to deployment geometries absent from synthesis with modest performance cost.
Comments9 pages, 4 figures
