1 research outputs found
A Gradual Takeover Strategy of the Active Safety System
A gradual takeover strategy is proposed, in which the dynamic driving
privilege assignment in real-time and the driving privilege gradual handover
are realized. Firstly, the driving privilege assignment based on the risk level
is achieved. The naturalistic driving data is applied to study the driver
behavior during danger. TTC (time to collision) is defined as an obvious risk
measure, whereas the time before the host vehicle has to brake assuming that
the target vehicle is braking is defined as the potential risk measure, i.e.
the time margin (TM). A risk assessment algorithm is proposed based on the
obvious risk and potential risk. Secondly, the driving privilege gradual
handover is realized. The non-cooperative MPC (model predictive control) is
employed to resolve the conflicts between the driver and active safety system.
The naturalistic driving data are applied to verify the effectiveness of the
risk assessment algorithm, and the risk assessment algorithm performs better
than TTC in the ROC (receiver operating characteristic). It is identified that
the Nash equilibrium of the non-cooperative MPC can be achieved by using a
non-iterative method. The driving privilege gradual handover is realized by
using the confidence matrixes updating. The simulation verification shows that
the gradual takeover strategy can achieve the driving privilege gradual
handover between the driver and active safety system