Autonomous Vehicle Brake Force Modulation via Prospect Theory
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Solution Overview
Problem
Current autonomous vehicle control systems fail to balance crash risk avoidance and passenger comfort, often resulting in either inadequate braking that neglects crash risk or excessive braking that compromises comfort.
Innovation Solution
A method and system that utilize sensors to acquire vehicle data, calculate crash probability, and apply the prospect theory to balance crash risk reduction and comfort loss by determining an optimal brake force, simulating human driving behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If brake force is increased to avoid crash risk, then crash safety is improved, but passenger comfort deteriorates due to overreaction and fright
Solution Approach 1:
The patent changes the control parameter from simple binary braking to continuous brake force modulation. By calculating optimal brake force as a continuous parameter between 0 and maximum brake force based on crash probability and prospect theory, the system achieves both crash avoidance and comfort maintenance through precise parameter optimization.
Solution Approach 2:
The patent introduces prospect theory as an intermediary mathematical model between crash probability detection and brake force execution. This intermediary layer transforms the raw crash probability into an optimal brake force command that balances safety and comfort, acting as a mediator that reconciles the conflicting requirements.
2Ease of operation
If brake force is reduced to maintain comfort, then passenger comfort is improved, but crash risk increases due to insufficient braking
Solution Approach 1:
The system optimizes the brake force parameter to its optimal value rather than using fixed conservative or aggressive settings. By dynamically calculating the optimal brake force parameter based on real-time crash probability and prospect theory, the system achieves minimum necessary braking that maintains comfort while ensuring safety.
Solution Approach 2:
The patent applies partial braking action - using only the necessary portion of available brake force rather than full braking. The optimal brake force calculation determines the precise partial action needed to achieve crash avoidance threshold while minimizing comfort impact, avoiding excessive braking.
3Reliability
If frequent braking operations are applied to reduce crash risk, then crash safety is improved, but ride comfort deteriorates due to overreaction
Solution Approach 1:
The patent makes the braking system dynamic by continuously adjusting brake force based on real-time crash probability calculations. Rather than frequent on/off braking operations, the system dynamically modulates brake force magnitude, applying braking only when crash probability exceeds thresholds and only at the optimal magnitude needed, thereby reducing unnecessary braking events.
Solution Approach 2:
The system implements feedback control by continuously monitoring crash probability and adjusting optimal brake force accordingly. The prospect theory-based calculation provides feedback on the relationship between brake force and crash risk, enabling the system to maintain safety while minimizing comfort-deteriorating braking operations.
Data Source
AI summary
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.