Abstract
Recently, automatic braking systems have been deployed in current automotive markets. However, the existing systems cannot avoid collisions in critical scenario such as a pedestrian suddenly darting out from a poor-visibility blind corner. Therefore, this study proposes a motion planning and control system based on situational risk assessment characteristics of expert drivers. By solving the problem combining potential field and optimal control theories, the desired yaw rate and the desired longitudinal deceleration are independently calculated. In addition, the validity of the proposed motion planning and control system is verified by comparing the simulation results with the actual driving data by expert drivers.
