A comprehensive high-level automated driving assistance system with integrated multi-functionality

Abstract

Advanced Driver Assistance Systems (ADAS) have gained substantial attention in recent years. However, the integration mechanism of multiple functions within ADAS remains unexplored, and the full potential of its functionality remains underutilised. This paper presents a novel multi-functional integrated High-level Automated Driving Assistance System that combines the Cruise Control (CC), Adaptive Cruise Control (ACC), Automated Emergency Brake (AEB), and Automated Lane Change (ALC) functions. The presented system utilises a hierarchical framework. The extension multi-mode switch strategy is established as the superior module and the Event-Triggered Model Predictive Controller (ETMPC) is designed as the inferior controller. The CC, ACC, and ALC functions are effectively utilised to enhance traffic efficiency, while the AEB function ensures driving safety. To address the time constraints of conventional Model Predictive Control, an event-trigger mechanism is proposed to reduce computational load. Simulations are conducted using the CarSim and Matlab platforms. The study results demonstrate significant improvements in both safety and traffic efficiency compared to conventional ADAS strategies. Furthermore, the proposed ETMPC method significantly reduces the frequency of solving Optimisation Problems and decreases online computation costs.