Study on Autonomous Intelligent Drive System Based on Potential Field with Hazard Anticipation

Abstract

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/01.jpg"" width=""300"" />Risk potential estimation</div> Pedestrians darting out from blind spots in driver vision are typical scenarios in urban street environments, and conventional autonomous emergency braking systems reach safety limits if sensors do not detect the pedestrian in time to prevent accident or injury. The system must be able to anticipate such potential hazards and to anticipate such pedestrian action. This paper focuses on a pedestrian collision avoidance system that has a “driving-intelligence"" model. The model was designed by applying potential field theory using hazard-anticipatory knowledge. The effectiveness of the proposed system is confirmed by computer simulation. </span>

Set-Based Prediction of Traffic Participants Considering Occlusions and Traffic Rules

“…Set-based prediction is also able to consider interaction between traffic participants [69] and formalized traffic rules [14], [70]. The predicted occupancy sets can also be weighted by probabilities [71], [72] d) Occlusion: The risk from occlusions is tackled either by shrinking the field of view over the prediction horizon [73]- [76] or by introducing and predicting individual, potentially present obstacles (aka phantom or virtual objects) [1], [16], [77]- [85]. Early works considering occlusions are motion planners for mobile robots [86], [73]- [75].…”

“…Early works considering occlusions are motion planners for mobile robots [86], [73]- [75]. Later, risk assessment systems for road vehicles have included occluded intersections [77]- [80]. In recent motion planners, a partially observable Markov decision process optimizes the behavior of the ego vehicle such that the collision risk due to occlusions is reduced [81]- [84].…”

Modular design of artificial potential field and nonlinear model predictive control for a vehicle collision avoidance system with move blocking strategy

“…30,31,44 In this work, the APF formulations which are going to be used are based on previous work of the authors. 8,10,32 APF computes two reference values that will be tracked by NMPC, i.e. the desired yaw rate and deceleration in the occurrence of potential threats.…”

“…All of the parameters are based on the authors’ previous works. 10,32 The methodology for the parameters’ optimization ( σ oX and σ oY ) can also be found elsewhere. 8…”

“…Though many studies have been done using APF and MPC for CA systems, 8,30,31 the common CA problems mentioned earlier still occurred. In previous works, 8,32 the system tracks the replanned trajectory formulated by APF with linear steering and braking torque controls. Though this approach performs well for simple avoidance schemes, in a more complex scenario, where the sudden changes of vehicle forces will result in excessive nonlinearity, the linear controls might possess some disadvantages.…”