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Worst-Case Analysis of Automotive Collision Avoidance Systems


Abstract:

Automotive collision avoidance (CA) systems help drivers to avoid collisions through autonomous interventions by braking or steering. If the decision to intervene is made...Show More

Abstract:

Automotive collision avoidance (CA) systems help drivers to avoid collisions through autonomous interventions by braking or steering. If the decision to intervene is made too early, the intervention can become a nuisance to the driver, and if the decision is made too late, the safety benefits of the intervention will be reduced. The decision to intervene is commonly based on a threat function. The dimensionality of the input state space for the threat function is, in general, very large, making exhaustive evaluation in real vehicles intractable. This paper presents a method for efficient estimation of a conservative bound on CA system performance, i.e., the worst-case performance. Closed-form expressions are derived for the worst-case performance, in terms of early or unnecessary interventions, with regard to longitudinal or lateral prediction and measurement errors. In addition, we derive closed-form expressions for robust avoidance scenarios, in which no unnecessary intervention will occur. For a system example, numerical results show how decision timing and robustness depend on scenario and system parameters. The method can be used for defining system requirements, system verification, system tuning, or system sensitivity analysis with regard to scenario variations and sensor measurement errors.
Published in: IEEE Transactions on Vehicular Technology ( Volume: 65, Issue: 4, April 2016)
Page(s): 1899 - 1911
Date of Publication: 02 April 2015

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I. Introduction

Automotive collision avoidance (CA) systems monitor the surrounding environment and use this information to help the driver avoiding or mitigating collisions with other road users or stationary objects. When a collision is imminent, the system can autonomously intervene by braking or steering to reduce impact velocity or completely avoid the impending collision. To make this decision, the system needs to assess the severity of the situation. If the system intervenes in nonsevere situations, this can be a nuisance to the driver. On the other hand, if the system does not intervene in a severe situation, it will fail in its purpose. These interventions are termed unnecessary and missed interventions, respectively.

References

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