We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a discrete safe controller. The adaptive controller relies on model predictive control to achieve optimal efficiency in nominal conditions. The safe controller avoids collision by applying two different policies, for nominal and out-of-nominal conditions, respectively. We present design principles for both the adaptive and the safe controller and show how each one can contribute in the hybrid architecture to improve performance, road occupancy and passenger comfort while preserving safety. The experimental results confirm the feasibility of the approach and the practical relevance of hybrid controllers for safe and efficient driving.

翻译：我们设计并实验性地评价一个自动车辆的混合安全逐项避免碰撞控制器。 控制器将适应控制器和离散安全控制器的各自优势合并成一个单一的结构。 适应控制器依靠模型预测控制器,以便在名义条件下达到最佳效率。 安全控制器通过对名义和名义以外条件分别适用两种不同的政策来避免碰撞。 我们为适应性控制器和安全控制器提出设计原则,并表明每个人如何在混合结构中帮助改进性能、道路占用和乘客舒适,同时维护安全。 实验结果证实了这种方法的可行性以及混合控制器在安全和高效驾驶方面的实际相关性。