Motion Planning and Control of Autonomous Driving Intelligence System Based on Risk Potential Optimization Framework

Abstract

This study proposes a motion planning and control system based on collision risk potential prediction characteristics of experienced drivers. Recently, automatic braking systems have been deployed in current automotive markets. However, the existing systems cannot avoid collisions in critical scenario such as a pedestrian suddenly darting out from a poor-visibility blind corner. By optimizing the potential field function in the framework of optimal control theory, the desired yaw rate and the desired longitudinal deceleration are theoretically calculated. Finally, the validity of the proposed motion planning and control system is verified by comparing the simulation results with the actual driving data by experienced drivers.

Potential Field Based Motion Planning with Steering Control and DYC for ADAS

“…The road edges and the obstacles represented by repulsive potential function that keep the obstacles far away from the vehicle as well as to avoid the collision. In this work, the potential field formulation was calculated regarding to the previous works that had been done in [13][14][15][16][17]. Several potential functions were formulated for road edges and obstacle based on situation of two stationary obstacles located on the straight lane.…”

“…In realizing the driver assistance systems, the reference yaw rate value was calculated to find the optimal performance function for motion planning based on work done in [16,17]. The application of potential field with optimal control theory as in [16,17] was implemented to replace the gradient descent method [11] that generally used in creating the motion planning. This method was used to avoid the local minima problem that might be existed during the task execution.…”

“…where denoted as vehicle yaw angle. By using application of optimal control theory in [17], the evaluation cost function for identification of yaw rate reference value can mathematically be expressed as following equation. The reference yaw rate was defined from the minimum value of evaluation cost function that was calculated on each sampling time where q specified as weight of yaw rate prediction.…”

Effectiveness of Information Sharing to Improve Elderly Drivers’ Acceptability for Proactive Intervention Systems

“…In contrast to the existing automatic emergency braking systems, our proactive intervention systems aim to avoid risky situations by predicting the surrounding traffic situation. Because our collaborator (10) was simultaneously developing the details of vehicle controls for situations similar to our trials, we conducted this study using the simplified vehicle controls imitating the proactive concept, which are described in the following section.…”

Acceptability of a Proactive Braking Intervention System by Elderly Drivers Using an Actual Vehicle

“…As a countermeasure to the recent increase in traffic accidents caused by elderly drivers, our research project (1) aims to develop a driving support system based on automated driving technologies. Evaluations and improvement of the acceptance for such a system are as important as technological developments of necessary components such as algorithms (2) of vehicle control. In our previous study (3) , we examined the acceptance of proactive intervention systems, which intervened the operations of the driver and switched the authority of the vehicle control, with respect to both steering and braking operations, to avoid potential risks on a road.…”