Future advanced driver assistance systems based on Optimal Control: the influence of 'risk functions' on overall system behavior and on prediction of dangerous situations

摘要

This work introduces a preliminary study on upcoming driver assistance systems based on Optimal Control. Systems of this kind are intended to monitor driver-vehicle behavior and environmental surroundings in order to warn the driver of possible dangerous situations, and work by constantly comparing the real vehicle maneuver to a recommended reference maneuver planned by optimal control. The latter (the optimal control reference maneuver) is based on safety criteria, in which a proper "risk function" is minimized. In this paper the case of "safe speed" is preliminarily addressed. The influence of different risk function formulations (for safe speed) on system performance is investigated. Simulations are carried out for a vehicle running along a S-shaped curve at constant speed, and the driving advices resulting from safe-optimal reference maneuvers are analyzed.