A rigorous deterministic global optimization approach for the derivation of secondary information in digital maps

We derive a generic system that constructs an optimization model for an emergency stop scenario on the highway, based on map data from high definition maps that are used in Advanced Driver Assistance Systems (ADAS) and in Highly Automated Driving (HAD). New additional situative and scenario-based in...

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Vydané v:Optimization and engineering Ročník 24; číslo 2; s. 1225 - 1265
Hlavní autori: Eder, Michael, Skibinski, Sebastian, Ulbrich, Michael
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York Springer US 01.06.2023
Predmet:
Control
Engineering
Environmental Management
Financial Engineering
Mathematics
Mathematics and Statistics
Operations Research/Decision Theory
Optimization
Research Article
Systems Theory
B-spline curves
Gaussian kernel
Automated driving
High definition map data
Interval arithmetic
Deterministic global optimization
ISSN:1389-4420, 1573-2924
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Popis
Shrnutí:We derive a generic system that constructs an optimization model for an emergency stop scenario on the highway, based on map data from high definition maps that are used in Advanced Driver Assistance Systems (ADAS) and in Highly Automated Driving (HAD). New additional situative and scenario-based information is computed by applying a global maximization approach to the model. For this purpose, we develop two new rigorous and deterministic branch-and-bound algorithms that both determine the certified global optimal value up to a predefined tolerance. The underlying interval optimization algorithm, which uses first-order techniques, is enhanced by one of two second-order methods that are applied for specifically selected intervals. We investigate two approaches that either compute a concave overestimator for the objective function or approximate the function with a quadratic polynomial using Taylor expansion. We show the limits of interval arithmetic in our problem, especially for the interval versions of the derivatives, and present a local linearization of the curve data that improves the results significantly. The presented novel method for deriving secondary information is compared to state of the art methods on two exemplary and for the automotive context representative scenarios to show the advantages of our approach.
ISSN:1389-4420
1573-2924
DOI:10.1007/s11081-022-09729-0