Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs
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 surrou...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Online Access: | http://hdl.handle.net/1721.1/108155 https://orcid.org/0000-0001-8695-1891 https://orcid.org/0000-0003-1866-6970 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1811095581784801280 |
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| author | McNew, John M. Forghani Oozroody, Mojtaba Hoehener, Daniel Andreas Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering McNew, John M. Forghani Oozroody, Mojtaba Hoehener, Daniel Andreas Del Vecchio, Domitilla |
| author_sort | McNew, John M. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T16:19:49Z |
| format | Article |
| id | mit-1721.1/108155 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:19:49Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1081552022-09-29T19:36:14Z Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs McNew, John M. Forghani Oozroody, Mojtaba Hoehener, Daniel Andreas Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Forghani Oozroody, Mojtaba Hoehener, Daniel Andreas Del Vecchio, Domitilla 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. 2017-04-14T13:05:30Z 2017-04-14T13:05:30Z 2015-12 Article http://purl.org/eprint/type/JournalArticle 1545-5955 1558-3783 http://hdl.handle.net/1721.1/108155 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) https://orcid.org/0000-0001-8695-1891 https://orcid.org/0000-0003-1866-6970 https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/TASE.2015.2499221 IEEE Transactions on Automation Science and Engineering Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT Web Domain |
| spellingShingle | McNew, John M. Forghani Oozroody, Mojtaba Hoehener, Daniel Andreas Del Vecchio, Domitilla Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs |
| title | Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs |
| title_full | Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs |
| title_fullStr | Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs |
| title_full_unstemmed | Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs |
| title_short | Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs |
| title_sort | design of driver assist systems under probabilistic safety specifications near stop signs |
| url | http://hdl.handle.net/1721.1/108155 https://orcid.org/0000-0001-8695-1891 https://orcid.org/0000-0003-1866-6970 https://orcid.org/0000-0001-6472-8576 |
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