This report summarizes the progress on the development of a vehicle warning and control system to avoid run-off-road accidents on highways. The system proposed is an integrated lateral advisory or control system, which will work by properly combining the information of the previewed roadway, projected route of the vehicle, and the driver status model. The previewed roadway will be obtained based on the measurement of the lane geometry. The projected route will be calculated based on the vehicle's current motion and a vehicle dynamics model. The driver status will be modeled from the perspective of steering performance. Finally, the above information is synthesized into a warning/intervention/control system for an autonomous vehicle in order to minimize run-off-road accidents on the highway. (Author/publisher)
Abstract