Patent application EP18172070A (EP), filed 2018-05-14
Publication number: EP3401172A1
Title: A METHOD AND A VEHICLE CONTROL SYSTEM FOR CONTROLLING AN AUTONOMOUS VEHICLE
Abstract: The present disclosure provides a method and a vehicle control system for controlling an autonomous vehicle. The method comprises utilizing the sensor group of said vehicle to acquire data related to said vehicle, wherein said data includes the speed of said vehicle, the speed of another object ahead of said vehicle, and the distance between said vehicle and another object, determining the crash probability between said vehicle and another object according to the data related to said vehicle, calculating the total magnitude of value according to said crash probability on the basis of the prospect theory, wherein said total magnitude of value indicates the balance between the value of crash risk reduction and the value of user comfort loss, and calculating the brake force according to said total magnitude of value.
IPC codes: B60T   7/    22            A I
B60W  30/   095            A I
Claims: number: 1
text: A method for controlling an autonomous vehicle, comprising utilizing the sensor group of said vehicle to acquire data related to said vehicle, wherein said data includes the speed of said vehicle, the speed of another object ahead of said vehicle, and the distance between said vehicle and another object,
determining the crash probability between said vehicle and another object according to the data related to said vehicle,
calculating the total magnitude of value according to said crash probability on the basis of the prospect theory, wherein said total magnitude of value indicates the balance between the value of crash risk reduction and the value of user comfort loss, and
calculating the brake force according to said total magnitude of value.
number: 2
text: The method according to claim 1, wherein the initial value of said crash probability is calculated according to the following formula: p 0 = e − µD / V 1 − V 2 ,
number: 3
text: The method according to claim 2, wherein calculating the total magnitude of value according to said crash probability on the basis of the prospect theory further comprises
comparing said crash probability with a preset crash probability threshold,
and calculating said total magnitude of value if said crash probability is greater than said preset crash probability threshold.
number: 4
text: The method according to claim 1, wherein calculating the total magnitude of value according to said crash probability on the basis of the prospect theory comprises
acquiring the calculation origin according to a preset reference point, and
calculating said total magnitude of value according to said crash probability and said calculation origin on the basis of said prospect theory,
wherein said preset reference point indicates the case that said vehicle takes no braking measure.
number: 5
text: The method according to claim 1, wherein the total magnitude of value is calculated according to the following formula: U g = w p g ∗ V R g + V C g ,
number: 6
text: The method according to claim 5, wherein the crash probability at said brake ratio (g) is calculated according to the following formula: p g = e − µ g V 1 − V 2 − V 1 − V 2 2 − 2 gD ,
number: 7
text: The method according to claim 5, wherein said weight function is w p = p δ / p δ + 1 − p δ 1 / δ ,
number: 8
text: The method according to claim 7, wherein δ is 0.65.
number: 9
text: The method according to claim 5, wherein the value of crash risk reduction at said brake ratio (g) is calculated according to the following formula: V R g = g α ,
number: 10
text: The method according to claim 9, wherein α is 0.88.
number: 11
text: The method according to claim 5, wherein the value of comfort loss at said brake ratio (g) is calculated according to the following formula: V C g = − θ g β ,
number: 12
text: The method according to claim 11, wherein β is 0.88.
number: 13
text: The method according to claim 1, wherein said brake force is calculated according to the following formula: G = U − 1 max U g ,
number: 14
text: A vehicle control system for controlling an autonomous vehicle, comprising
a storage, which stores computer program instructions, and
a processor, which is configured to run the computer program instructions stored in said storage in order to
utilize the sensor group of said vehicle to acquire data related to said vehicle, wherein said data includes the speed of said vehicle, the speed of another object ahead of said vehicle, and the distance between said vehicle and another object,
determine the crash probability between said vehicle and another object according to the data related to said vehicle,
calculate the total magnitude of value according to said crash probability on the basis of the prospect theory, wherein said total magnitude of value indicates the balance between the value of crash risk reduction and the value of user comfort loss, and
calculate the brake force according to said total magnitude of value.
number: 15
text: The vehicle control system according to claim 14, wherein the initial value of said crash probability is calculated according to the following formula: p 0 = e − µD / V 1 − V 2 ,
number: 16
text: The vehicle control system according to claim 14, wherein said processor is configured to run the computer program instructions stored in said storage in order to
compare said crash probability with a preset crash probability threshold, and
calculate said total magnitude of value if said crash probability is greater than said preset crash probability threshold.
number: 17
text: The vehicle control system according to claim 14, wherein said processor is configured to run the computer program instructions stored in said storage in order to
acquire the calculation origin according to a preset reference point, and
calculate said total magnitude of value according to said crash probability and said calculation origin on the basis of said prospect theory,
wherein said preset reference point indicates the case that said vehicle takes no braking measure.
number: 18
text: The vehicle control system according to claim 14, wherein the total magnitude of value is calculated according to the following formula: U g = w p g ∗ V R g + V C g ,
number: 19
text: The vehicle control system according to claim 18, wherein the crash probability at said brake ratio (g) is calculated according to the following formula: p g = e − µ g V 1 − V 2 − V 1 − V 2 2 − 2 gD ,
number: 20
text: The vehicle control system according to claim 18, wherein said weight function is w p = p δ / p δ + 1 − p δ 1 / δ ,
number: 21
text: The vehicle control system according to claim 20, wherein δ is 0.65.
number: 22
text: The vehicle control system according to claim 18, wherein the value of crash risk reduction at said brake ratio (g) is calculated according to the following formula: V R g = g α ,
number: 23
text: The vehicle control system according to claim 22, wherein α is 0.88.
number: 24
text: The vehicle control system according to claim 18, wherein the value of said user comfort loss at said brake ratio (g) is calculated according to the following formula: V C g = − θ g β ,
number: 25
text: The vehicle control system according to claim 24, wherein β is 0.88.
number: 26
text: The vehicle control system according to claim 14, wherein said brake force is calculated according to the following formula: G = U − 1 max U g ,
Office action: search_report, dated 2018-11-14
Prior art cited: ref_id: DE102011100277A1
ref_type: patent
severity: background
ref_id: - KAHNEMAN, DANIEL; TVERSKY, AMOS: "Prospect Theory: An Analysis of Decision under Risk", ECONOMETRICA, vol. 47, no. 2, 1979, pages 263, ISSN: 0012-9682
ref_type: npl
severity: background
ref_id: EP2407356A1
ref_type: patent
severity: background
ref_id: WO2004085220A1
ref_type: patent
severity: background
ref_id: WO2004085220
ref_type: patent
severity: background
ref_id: EP2407356
ref_type: patent
severity: background
Final disposition: pending (2018-11-14)