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- Type of Document: M.Sc. Thesis
- Language: English
- Document No: 48145 (58)
- University: Sharif University of Technology, International Campus, Kish Island
- Department: Science and Engineering
- Advisor(s): Khayyat, Amir Ali Akbar; Ghaemi Osgouie, Kambiz
- Abstract:
- Advanced Driver Assistance System (ADAS) is a major area of research in today’s vehicle control and safety. In General ADAS can be seen as a mother system with various subsystems to help the driver from pre-crash to post-crash situations. One of the subsystems for ADAS is the Collision Avoidance System (CAS). Nowadays, many researchers are working on different Aspects of CAS, from perception to decision making. Many challenges exist while developing a CAS, but today the greatest challenge is decision making of CAS and its interaction with driver’s behavior. Driving is a complex task and since driver’s consciousness, gender, age and reflexes can cause different behaviors; it is, therefore, crucial for a safety system such as CAS to be able to interact with the driver. Solving this problem requires a detailed study on human behavior when developing CAS. In this research a thorough study on Reaction-Time of the driver was done using a supervised scenario on a Bus Simulator available in Nasir Virtual Reality Lab at Khajeh Nasir Toosi University of Technology. Some twenty bus drivers were tested, and collected data were analyzed. Then a model to extract the Reaction-Time of the driver was proposed (RT-Extractor). Using RT Extractor, Weather Condition and daylight time, a Safety Factor (SF) was defined to be used in a fuzzy model to compute Safety Distance. The proposed fuzzy model output acts as a reference for the driver's time gap. Based on the fuzzy Safety Distance model, another fuzzy system was introduced to act as a Collision Warning System (CWS). CWS had four different levels of warning from safe to dangerous driving condition. Finally maximum value of CWS triggers two fuzzy Collision Avoidance Systems; one for Brake and the other one for Steer in order to avoid collision by means of brake or brake-steer. To evaluate the performance of the proposed systems two additional set of tests were performed. Results showed that RT Extractor is fully capable of extracting the driver’s reaction time and use it to modify SF. Warning levels of the CWS matched different environmental conditions as expected. CAS system was capable of using brake or brake-steer in order to do evasive maneuvers
- Keywords:
- Time Gape ; Fuzzy Systems ; Collision Avoidance ; Warning Systems ; Advanced Driver Assistance System (ADAS)
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