Sichere Trajektorienplanung für autonome Fahrzeuge unter Verwendung steuerbarer und erreichbarer Mengen

Dieser Beitrag gibt Einblick in Methoden zur Trajektorienplanung autonomer Fahrzeuge, die auf der Verwendung bestimmter Mengen von Zuständen eines dynamischen Systems beruhen, welches das Fahrverhalten eines Fahrzeugs abbildet. Diese mengenbasierten Methoden bergen großes Potential, Aussagen zur Systemsicherheit ermöglichen zu können. Dabei werden zwei Klassen unterschieden: während die erste Klasse erreichbare Mengen verwendet, basiert die zweite Klasse auf steuerbaren Mengen. Im Beitrag werden Vertreter jeder Klasse sowie mit diesen erzielbare Resultate beispielhaft dargestellt sowie Gemeinsamkeiten, Vor und Nachteile diskutiert. Eine Simulationsstudie demonstriert den Einsatz in einem kooperativen Planungsszenario

Ensuring Drivability of Planned Motions from Simple Models Using Formal Methods

Motion planning of automated vehicles requires dynamical models to ensure that obtained trajectories are drivable. An often overlooked aspect is that usually simplified models are used for motion planning, which do not always sufficiently conform to the real behavior of vehicles. Thus, collision avoidance and drivability is not necessarily ensured. We address this problem by modeling vehicles as differential inclusions composed from simple dynamics plus set-based uncertainty; conformance testing is used to determine the required uncertainty. To quickly provide the set of solutions of these uncertain models, we provide pre-computed reachable sets (i.e. union of all possible solutions) for pre-selected motion primitives. The reachable sets of vehicles are obtained by a novel combination of optimization techniques and reachability analysis – they enable us to guarantee safety by checking their mutual non-intersection for consecutive time intervals. The benefits of our approach are demonstrated by numerical experiments

Neuropilin-1 identifies a subset of highly activated CD8+ T cells during parasitic and viral infections.

Neuropilin-1 (Nrp-1) expression on CD8+ T cells has been identified in tumor-infiltrating lymphocytes and in persistent murine gamma-herpes virus infections, where it interferes with the development of long-lived memory T cell responses. In parasitic and acute viral infections, the role of Nrp-1 expression on CD8+ T cells remains unclear. Here, we demonstrate a strong induction of Nrp-1 expression on CD8+ T cells in Plasmodium berghei ANKA (PbA)-infected mice that correlated with neurological deficits of experimental cerebral malaria (ECM). Likewise, the frequency of Nrp-1+CD8+ T cells was significantly elevated and correlated with liver damage in the acute phase of lymphocytic choriomeningitis virus (LCMV) infection. Transcriptomic and flow cytometric analyses revealed a highly activated phenotype of Nrp-1+CD8+ T cells from infected mice. Correspondingly, in vitro experiments showed rapid induction of Nrp-1 expression on CD8+ T cells after stimulation in conjunction with increased expression of activation-associated molecules. Strikingly, T cell-specific Nrp-1 ablation resulted in reduced numbers of activated T cells in the brain of PbA-infected mice as well as in spleen and liver of LCMV-infected mice and alleviated the severity of ECM and LCMV-induced liver pathology. Mechanistically, we identified reduced blood-brain barrier leakage associated with reduced parasite sequestration in the brain of PbA-infected mice with T cell-specific Nrp-1 deficiency. In conclusion, Nrp-1 expression on CD8+ T cells represents a very early activation marker that exacerbates deleterious CD8+ T cell responses during both, parasitic PbA and acute LCMV infections