Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs
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Del Vecchio_Design of driver.pdf
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Author(s)
McNew, John M.
Forghani Oozroody, Mojtaba
Hoehener, Daniel Andreas
Del Vecchio, Domitilla
Date Issued
December 2015
Journal
IEEE Transactions on Automation Science and Engineering
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Forghani, Mojtaba; McNew, John M.; Hoehener, Daniel and Del Vecchio, Domitilla “Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs.” IEEE Transactions on Automation Science and Engineering 13, no. 1 (January 2016): 43–53. © 2016 Institute of Electrical and Electronics Engineers (IEEE)
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Author's final manuscript
Abstract
In this paper, we consider the problem of designing in-vehicle driver-assist systems that warn or override the driver to prevent collisions with a guaranteed probability. The probabilistic nature of the problem naturally arises from many sources of uncertainty, among which the behavior of the surrounding vehicles and the response of the driver to on-board warnings. We formulate this problem as a control problem for uncertain systems under probabilistic safety specifications and leverage the structure of the application domain to reach computationally efficient implementations. Simulations using a naturalistic data set show that the empirical probability of safety is always within 5% of the theoretical value in the case of direct driver override. In the case of on-board warnings, the empirical value is more conservative due primarily to drivers decelerating more strongly than requested. However, the empirical value is greater than or equal to the theoretical value, demonstrating a clear safety benefit.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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DOI of Published Version
https://doi.org/10.1109/TASE.2015.2499221
