Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 12, Issue 4, Pages 1352-1361Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2011.2158210
Keywords
Active safety; decision making; invariant set theory; reachability analysis; semi-autonomous vehicles; threat assessment
Categories
Funding
- Vehicle and Traffic Safety Centre (SAFER) at Chalmers University of Technology
- Verket for INNOVAtionssystem (VINNOVA)
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We propose two model-based threat assessment methods for semi-autonomous vehicles, i.e., human-driven vehicles with autonomous driving capabilities. Based on information about the surrounding environment, we introduce a set of constraints on the vehicle states, which are satisfied under safe driving conditions. Then, we formulate the threat assessment problem as a constraint satisfaction problem. Vehicle and driver mathematical models are used to predict future constraint violation, indicating the possibility of accident or loss of vehicle control, hence, the need to assist the driver. The two proposed methods differ in the models used to predict vehicle motion within the surrounding environment. We demonstrate the proposed methods in a roadway departure application and validate them through experimental data.
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