リスク予測運転知能モデルに基づく協調型運転支援システム

Shared Control in Advanced Driver Assistance Systems Based on Risk Predictive Driving Intelligence Model

本研究では，人間と協調する自動運転の基盤技術として，センシングによって得られた走行環境・道路文脈を理解し，経験知識から合理的に潜在リスクを予測・先読みし，取るべき規範運転を決定し，安全な走行を実現する自律運転知能システムの開発を目的とする。自律運転知能では熟練ドライバの特性に基づく車両の前後方向・横方向の運動制御の設計法を導入し，衝突リスクが高まった際に早い段階で各種操作系の操作力の制御介入を実行し，安全運転を支援する。触覚的な協調制御（Haptic Shared Control）による制御介入インタフェイスを用いて，オーバーライドを可能とし，人間と機械が常時協調して安全で快適な運転を実現する。

This research aims to develop an “Autonomous Driving Intelligence System” to prevent risk of accidents and enhance driving safety while keeping human drivers in the control loop. The proposed system focuses on two key technologies: Risk-predictive driving intelligence model and Shared control between the driver and the assistance system. The first key technology is to embed an experienced driver model for recovering degraded performances of recognition, decision-making and operation of drivers. In the driver assistance system design, the experienced driver model contains knowledge-based “riskprediction mechanism” to avoid accidents in risky driving situations which the system is activated in early stage to assist safe driving when the collision risk becomes imminent. The second key point is “Shared control” using haptic interface of steering and pedal to realize good cooperative characteristics between the driver and the system by optimizing the assistance level while minimizing the interference with human driver operation.

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