Shared Control in Risk Predictive Braking Maneuver for Preventing Collisions with Pedestrians
Shared Control in Risk Predictive Braking Maneuver for Preventing Collisions with Pedestrians
复制标题
风险预测制动操作的共享控制，以防止与行人发生碰撞
DOI：
10.1109/tiv.2017.2700210
复制
发表时间：
2017
影响因子：
8.2
通讯作者：
Pongsathorn Raksincharoensak
中科院分区：
文献类型：
--
作者：
Yuichi Saito;Pongsathorn Raksincharoensak
确保老年驾驶员的安全流动性是支持老年人日常生活的重要问题之一。风险预测制动操纵的共享控制试图管理关于驾驶员看不到的危险的潜在碰撞风险。辅助系统执行部分减速机动，以在不确定的情况下达到参考速度，例如未被观察到的行人可能会开始过马路。本文介绍了以下内容：第一，分析危险预期驾驶的专家司机;第二，风险预测控制的详细描述;第三，通过数值模拟获得的风险预测控制的有效性和局限性;第四，驾驶员辅助系统的框架;第五，实验数据的主动安全性能的评估。具体地说，将研究三个问题：专家驾驶员如何在不确定的情况下驾驶？如何确定参考速度？如何设计一个系统，使人与机器之间的关系是互补的？基于此框架，本文讨论了一个共享的控制系统，动态共享老年驾驶员和ADAS之间的控制权限。
Ensuring a safe mobility for elderly drivers is one of the important issues to be addressed for supporting the daily life of elderly. Shared control of a risk predictive braking maneuver attempts to manage the potential risk of crashing with respect to hazards that cannot be seen by the driver. The assistance system performs a partial deceleration maneuver to achieve a referenced velocity in uncertain situations, such as one in which an unobserved pedestrian might initiate a road crossing. This paper presents the following: first, an analysis of hazard-anticipatory driving for an expert driver; second, a detailed description of risk predictive control; third, the effectiveness and limitations of risk predictive control obtained through a numerical simulation; fourth, the framework of the driver assistance system; and fifth, experimental data for evaluation of proactive safety performance. Specifically, three questions will be investigated: How would expert drivers drive in uncertain situations?; How can a reference velocity be determined?; and How can a system be designed so that the relationship between the human and the machine is complementary? Based on this framework, this paper discusses a shared control system that dynamically shares control authority between the elderly driver and the ADAS.