Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving
Criticality metrics are not only essential for collision avoidance systems but also play a vital role for verification and validation of automated vehicles. With respect to the first application, criticality metrics should be real-time capable and applicable in various traffic situations. For the se...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9808147/ |
| _version_ | 1811342017762951168 |
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| author | Cheng Wang Christoph Popp Hermann Winner |
| author_facet | Cheng Wang Christoph Popp Hermann Winner |
| author_sort | Cheng Wang |
| collection | DOAJ |
| description | Criticality metrics are not only essential for collision avoidance systems but also play a vital role for verification and validation of automated vehicles. With respect to the first application, criticality metrics should be real-time capable and applicable in various traffic situations. For the second application, holistic safety evaluation by criticality metrics is desired. However, existing criticality metrics hardly meet these two requirements. They are either only applicable in post-processing or only assess the safety of maneuvers in longitudinal direction. Therefore, we propose a new acceleration-based criticality metric, which is real-time capable and applicable in both longitudinal and lateral directions. The theory of the proposed criticality metric is introduced and the definition is explained according to different scenarios. A simulation platform is established to validate the criticality metric. The simulation results demonstrate that the proposed criticality metric takes all possible maneuvers into account when meeting a critical situation. Apart from the longitudinal behavior, the lateral behavior of automated vehicles can also be evaluated in real-time. Consequently, it has a wider application scope than other criticality metrics. To demonstrate its contribution to verification and validation of automated vehicles, we apply the criticality metric to a naturalistic driving dataset. The results prove that our criticality metric has a higher precision and recall than Time to Collision. Additionally, it combines the abilities of Time to Collision and Time Head Way to assess the safety of automated vehicles in the longitudinal direction. The proposed criticality metric is real-time capable and is suitable for different situations. |
| first_indexed | 2024-04-13T19:03:53Z |
| format | Article |
| id | doaj.art-b87784d2bf0e4e5aa47965a8a0d211f2 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T19:03:53Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-b87784d2bf0e4e5aa47965a8a0d211f22022-12-22T02:34:02ZengIEEEIEEE Access2169-35362022-01-0110706627067410.1109/ACCESS.2022.31867659808147Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated DrivingCheng Wang0https://orcid.org/0000-0002-5309-8115Christoph Popp1https://orcid.org/0000-0001-7636-9531Hermann Winner2https://orcid.org/0000-0002-9824-3195Independent Researcher, Formerly with Institute of Automotive Engineering, Technical University of Darmstadt, Darmstadt, GermanyInstitute of Automotive Engineering, Technical University of Darmstadt, Darmstadt, GermanyInstitute of Automotive Engineering, Technical University of Darmstadt, Darmstadt, GermanyCriticality metrics are not only essential for collision avoidance systems but also play a vital role for verification and validation of automated vehicles. With respect to the first application, criticality metrics should be real-time capable and applicable in various traffic situations. For the second application, holistic safety evaluation by criticality metrics is desired. However, existing criticality metrics hardly meet these two requirements. They are either only applicable in post-processing or only assess the safety of maneuvers in longitudinal direction. Therefore, we propose a new acceleration-based criticality metric, which is real-time capable and applicable in both longitudinal and lateral directions. The theory of the proposed criticality metric is introduced and the definition is explained according to different scenarios. A simulation platform is established to validate the criticality metric. The simulation results demonstrate that the proposed criticality metric takes all possible maneuvers into account when meeting a critical situation. Apart from the longitudinal behavior, the lateral behavior of automated vehicles can also be evaluated in real-time. Consequently, it has a wider application scope than other criticality metrics. To demonstrate its contribution to verification and validation of automated vehicles, we apply the criticality metric to a naturalistic driving dataset. The results prove that our criticality metric has a higher precision and recall than Time to Collision. Additionally, it combines the abilities of Time to Collision and Time Head Way to assess the safety of automated vehicles in the longitudinal direction. The proposed criticality metric is real-time capable and is suitable for different situations.https://ieeexplore.ieee.org/document/9808147/Autonomous vehiclesvehicle safetyroad safetycollision avoidanceperformance evaluation |
| spellingShingle | Cheng Wang Christoph Popp Hermann Winner Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving IEEE Access Autonomous vehicles vehicle safety road safety collision avoidance performance evaluation |
| title | Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving |
| title_full | Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving |
| title_fullStr | Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving |
| title_full_unstemmed | Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving |
| title_short | Acceleration-Based Collision Criticality Metric for Holistic Online Safety Assessment in Automated Driving |
| title_sort | acceleration based collision criticality metric for holistic online safety assessment in automated driving |
| topic | Autonomous vehicles vehicle safety road safety collision avoidance performance evaluation |
| url | https://ieeexplore.ieee.org/document/9808147/ |
| work_keys_str_mv | AT chengwang accelerationbasedcollisioncriticalitymetricforholisticonlinesafetyassessmentinautomateddriving AT christophpopp accelerationbasedcollisioncriticalitymetricforholisticonlinesafetyassessmentinautomateddriving AT hermannwinner accelerationbasedcollisioncriticalitymetricforholisticonlinesafetyassessmentinautomateddriving |