Development and design of a platform for arbitration and sharing control applications

Abstract

In this paper, a description of the ADAS development platform in DESERVE project framework is presented. This work is framed within the Sub Project 2 (Development platform) of DESERVE project, and it is divided in 6 different and complementary lines of work. Most of the functions described in the tools and development systems, perception layer and the platform system architecture show the modularity and scalability of our proposal. Moreover, based on vehicle modelling, driver behaviour and intention, a first approach for arbitration and control strategies, which can anticipate the priorities on the control in emergency situations, is described. Furthermore, some simulations will allow the virtual testing for the future implementation in demonstrators. The presented work is the core of DESERVE project, and it is developed in parallel with Driver behaviour and HMI activities (SP3). This work presents some of the achievements in SP2, mainly the application platform integration in one of the demonstrators, along with the arbitration and sharing control, based on intelligent techniques (Fuzzy logic). Simulation shows the feasibility of proposal. This approach will be tested, integrated and validated in a real vehicle in the next stages of the project.

Towards Risk Estimation in Automated Vehicles Using Fuzzy Logic

“…In [18] a context based risk detector was developed from a set of safety rules aimed at preventing adverse weather conditions and driver fatigue. In [14] Perez proposed an arbitration control which evaluates some risk-related indicators in order to negotiate a level of authority between the driver and system. This assessment is based on driver specific indicators depending on the attention and drowsiness, as well as TTC.…”