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Conference Paper
Control Authority Management of Vehicle/Driver Cooperative Autonomous Driving System
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- Authors
- Kyounghwan An, Wooyong Han
- Issue Date
- 2012-10
- Citation
- International Symposium on Remote Sensing (ISRS) 2012, pp.1-4
- Language
- English
- Type
- Conference Paper
- Abstract
- For the safety and convenience, the ADAS (Advanced Driver Assistance System) can help the driving processes partially such as perception, decision making and control by using sensors such as radars, cameras, and ultrasonic sensors. The examples of ADAS are ACC (Advanced Cruise Control), LDWS (Lane Departure Warning System), BSD (Blind Spot Detection) and automatic parking, which give warnings or assist controls in longitudinal or lateral direction. Contrary to the ADAS which supports partial functions of driving, the autonomous vehicle, which is the final goal of the intelligent vehicle, aids full steps of driving from the starting position to the target position. However, it still remains in a research step due to the high cost of sensors and uncertainties of the constituting technologies. In this paper, we propose co-pilot system which reduces the uncertainties through cooperative driving between the driver and the system. The uncertainties of the system are minimized by changing the autonomous level dynamically according to the measured performances of the driver and the system. For example, when the driver is drowsy, the control authority of the vehicle is given to the system while the authority is given to the driver when the perception result of the system is poor.
- KSP Keywords
- Advanced driver assistance systems(ADAS), Authority management, Autonomous driving system, Autonomous vehicle, Cooperative driving, Intelligent Vehicle, Lane Departure Warning System(LDWS), Partial functions, Target Position, Ultrasonic sensors, automatic parking