Shared Control in Risk Predictive Braking Maneuver for Preventing Collisions With Pedestrians

Ensuring a safe mobility for elderly drivers is one of the important issues to be addressed for supporting the daily life of elderly. Shared control of a risk predictive braking maneuver attempts to manage the potential risk of crashing with respect to hazards that cannot be seen by the driver. The assistance system performs a partial deceleration maneuver to achieve a referenced velocity in uncertain situations, such as one in which an unobserved pedestrian might initiate a road crossing. This paper presents the following: first, an analysis of hazard-anticipatory driving for an expert driver; second, a detailed description of risk predictive control; third, the effectiveness and limitations of risk predictive control obtained through a numerical simulation; fourth, the framework of the driver assistance system; and fifth, experimental data for evaluation of proactive safety performance. Specifically, three questions will be investigated: How would expert drivers drive in uncertain situations?; How can a reference velocity be determined?; and How can a system be designed so that the relationship between the human and the machine is complementary? Based on this framework, this paper discusses a shared control system that dynamically shares control authority between the elderly driver and the ADAS.