Study on Intelligent Vehicle Control Considering Driver Perception of Driving Environment
Hiroshi Takahashi and Kouichi Kuroda
Nissan Research Center, Nissan Motor Co., Ltd.
1, Natsushima-cho Yokosuka 237-8523, Japan
We propose an approach to designing an intelligent vehicle controller for partially supporting driver operation of a vehicle. Driving is thought of as a system formed by the interaction between the driving environment, vehicle action, and driver expectations of the vehicle. Driver expectations during driving receive great attention. Driver intent to accelerate or decelerate is mainly generated by the perception of the driving environment. The model we propose involves information on the driving environment affecting driver intent taking driver differences in perceiving the driving environment into account. The model is represented affordance implicitly. An engineering model for installing the vehicle controller is expressed by a multipurpose decision maker allowing explicit treatment of the driving environment, vehicle action, and driver intent. A reasoning engine deals with differences in individual driver traits for generating intent to decelerate by using fuzzy integrals and measures. For example, a control procedure designed with the proposed model is applied to power train control. Simulation and experimental results show good performance by the vehicle control system.
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