Integrated framework for vehicle operator assistance based on a trajectory prediction and threat assessment

摘要

Various types and levels of operator assistance are performed within a unified, configurable framework. A model of the device with a model of the environment and the current state of the device and the environment are used to iteratively generate a sequence of optimal device control inputs that, when applied to a model of the device, generate an optimal device trajectory through a constraint-bounded corridor or region within the state space. This optimal trajectory and the sequence of device control inputs that generates it is used to generate a threat assessment metric. An appropriate type and level of operator assistance is generated based on this threat assessment. Operator assistance modes include warnings, decision support, operator feedback, vehicle stability control, and autonomous or semi-autonomous hazard avoidance. The responses generated by each assistance mode are mutually consistent because they are generated using the same optimal trajectory.

主权项

1. A system for providing semi-autonomous control of a mechanical device, the system comprising:
a computer control system, configured to combine at least predicted device controller inputs into a scalar threat assessment metric, the computer control system determining the scalar threat assessment metric based at least on predicted stability of the device through the time horizon, the computer control system being further configured to determine a type and degree of operator assistance to provide as a threat response based on at least the scalar threat assessment metric; and an actuator configured to actuate a system of the device to execute operator assistance based on an actuator input, the actuator input being based on at least the threat response determined by the computer control system.