重庆理工大学学报2024，Vol.38Issue(3)：32-44,13.DOI:10.3969/j.issn.1674-8425(z).2024.02.004
智能车变道决策规划系统的预期功能安全研究
Research on the safety of the intended functionality of intelligent vehicle lane change decision planning system
摘要
Abstract
With the rapid development of intelligent vehicles,the Safety of the Intended Functionality(SOTIF)is becoming increasingly important.As a critical component of autonomous driving systems,the automatic lane change control system poses inherent risks in decision-making and planning.This paper proposes an analysis process for the SOTIF of a vehicle lane-change decision-making system,which is based on ISO 21448 and the Systems-Theoretic Process Analysis(STPA)methodology.By integrating multiple perspectives,such as vehicle type,speed,and road conditions,the analysis process derives safety goals and improves algorithms from scenarios.The evaluation of the target vehicle's acceleration to assess the safety of the current lane change is conducted by Gaussian process regression and fuzzy comprehensive evaluation.The optimal lane-change trajectory is determined based on the minimization of the lane change time and the desired lane endpoint.Throughout the lane-change process,the driving states of the surrounding vehicles are continuously updated,and the current safety status of the vehicle is evaluated using a proposed safety coefficient.Different lane-change measures are then taken to ensure a safe lane change or a safe return in emergency situations.Finally,a verification scenario is built to compare the risks of the system before and after functional improvements under different scenarios.Our results show the risk is significantly reduced and the safety level during the lane change process is markedly improved after functional improvements.关键词
智能驾驶/变道/预期功能安全/风险评估Key words
intelligent driving/lane changes/SOTIF/risk assessment分类
交通运输引用本文复制引用
罗石,李灵恩,丁华,吴承航,过永强..智能车变道决策规划系统的预期功能安全研究[J].重庆理工大学学报,2024,38(3):32-44,13.基金项目
国家重点研发计划项目(2019YFB1600500) （2019YFB1600500）
