Human-Centered Risk Assessment of an Automated Vehicle Using Vehicular Wireless Communication

Abstract

This paper presents a human-centered risk assessment algorithm using vehicular communication for application to an automated driving vehicle. Vehicle-to-vehicle (V2V) wireless communication has been implemented and fused with a radar sensor to obtain the prediction of the remote vehicle's motion. Based on the predicted behavior of remote vehicles, a collision risk and a human reaction time are determined for a human-centered active safety control intervention moment. The human-centered risk assessment algorithm has been incorporated into a collision avoidance algorithm to monitor threat vehicles ahead and to find the best intervention point. Effects of the vehicular communication on a perception and a control performance are investigated. The performance of the proposed algorithm has been investigated via computer simulations and vehicle tests. It has been shown from both simulations and vehicle tests that the proposed human-centered risk assessment algorithm with V2V communication decides a proper active safety intervention moment by reducing the chances of over/underestimate of a conventional radar-only system.