In today's driver assistance and active safety systems an increase in automation facilitates driver support in versatile situations. For such systems, highly automated driving offers entirely new possibilities. In this thesis, a system is presented that enables this functionality on freeways. While driving, the host vehicle reacts to other traffic participants and conducts automated driving maneuvers without driver intervention. Besides general highly automated driving, the emergency stop assistant is presented as a partial functionality of this system. This assistant conducts an automated emergency stop maneuver if the driver suffers a health irregularity and is not able to keep in control of the vehicle. In order to apply these systems in public traffic, robust functionality and the safety of all traffic participants have the highest priority. The main contribution of this thesis consists of the development of a central control unit, (hybrid control concept) for highly automated systems, such as highly automated driving functionalities. This unit analyzes the current and imminent situation and makes decisions regarding suited driving maneuvers for the host vehicle. New concepts are presented in three areas: driving strategy, driving behavior and trajectory planning and control. The described driving strategy concept separates the driving ta.sk into several subtasks and is hence able to reduce the system complexity and error-proneness. which increases the robustness. The subtasks represent continuous driving maneuvers that, are conducted in a respective discrete system state. As a consequence, the system becomes hybrid. The structuring of the states in a discrete system architecture is realized by a combination of two methods: deterministic automata and decision trees. This approach facilitates robust and efficient decision-making processes within a flexible structure that is able to model cyclic behavior. The driving behavior is determined via the selection of the current states and maneuvers for the respective situation. A new concept for this is the hierarchic and multi-level decision-making process in which the consideration of uncertainties is adapted to the respective decision background. This facilitates the parallel consideration of even concurrent requirements, such as comfort and safety. As a state is selected, continuous driving trajectories are generated, which are concatenated to hybrid trajectories for successive states. In order to follow these nominal values, state adaptive control concepts are presented that consider hybrid trajectories and that adapt the total system to the current driving task. By adapting these modules to the current system state, differing requirements, such as regarding the control dynamics, can be considered within the respective situation. The evaluation of both functionalities is conducted in simulation and in a real test vehicle. The total system is finally evaluated by means of a highly automated drive in real traffic on the freeway A9 from Munich to Ingolstadt without driver intervention or influence. The validation of the hybrid control concept and the proven consideration of all system requirements demonstrates the generally possible application of this concept to further areas with identical or similar requirements.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Hybrid control strategies for advanced safety- and driver assistance systems


    Beteiligte:


    Erscheinungsdatum :

    2012


    Format / Umfang :

    224 Seiten, 126 Bilder, 4 Tabellen, 176 Quellen




    Medientyp :

    Hochschulschrift


    Format :

    Print


    Sprache :

    Englisch





    Safety potential of advanced driver assistance systems

    Breuer,J. / Feldmann,M. / Daimler,Stuttgart,DE | Kraftfahrwesen | 2011


    Data Fusion Strategies in Advanced Driver Assistance Systems

    Eckert, Alfred / Froehlich, Dominik / Foelster, Florian et al. | SAE Technical Papers | 2010


    Advanced Driver Assistance Systems

    Paul, Aneesh / Baruah, Mriganka / Srivastava, Rituraj et al. | SAE Technical Papers | 2016


    Advanced Driver Assistance Systems

    Hilgers, Michael / Achenbach, Wilfried | Springer Verlag | 2021