Abstract
Despite recent advances in algorithms and technology, self-driving vehicles are still susceptible to errors that can have severe consequences. As a result, effective risk monitoring and mitigation measures for autonomous driving systems are in high demand. To overcome this issue, several specifications and standards have been developed. However, a theoretical framework for dealing with autonomous vehicle hazards has rarely been presented. This study suggests a risk modeling method inspired by ideas from control theory and introduces a Model Predictive Control (MPC) Framework to deal with risks in general. Two application examples are presented. The first example shows how MPC parameters may affect the aggressiveness of the response. In the second example, our proposed risk monitoring and mitigation module is integrated into a vision-based Adaptive Cruise Control (ACC) system. Simulation results indicate a significant improvement in collision avoidance rate (from 0% to 47% in edge scenarios) during the Euro NCAP ACC Car-to-Car tests with a stationary target, which demonstrates the utility of our approach for addressing various types of hazards faced by autonomous vehicles.
Original language | English |
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Title of host publication | IAVVC 2023 - IEEE International Automated Vehicle Validation Conference, Proceedings |
Publisher | Institute of Electrical and Electronics Engineers |
ISBN (Electronic) | 9798350322538 |
DOIs | |
Publication status | Published - 2023 |
Event | 2023 IEEE International Automated Vehicle Validation Conference: IAVVC 2023 - Austin, United States Duration: 16 Oct 2023 → 18 Oct 2023 |
Conference
Conference | 2023 IEEE International Automated Vehicle Validation Conference |
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Abbreviated title | IAVVC 2023 |
Country/Territory | United States |
City | Austin |
Period | 16/10/23 → 18/10/23 |
Keywords
- automated vehicles
- functional safety
- model predictive control
- risk mitigation
- risk monitoring
ASJC Scopus subject areas
- Artificial Intelligence
- Automotive Engineering
- Safety, Risk, Reliability and Quality
- Control and Optimization
- Modelling and Simulation
- Instrumentation