| Citation: | XIE C A，REN Y，YANG D Z，et al. Construction method of driving safety field model for unmanned vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（4）：1375-1383 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0462
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In response to the shortage of comprehensive and systematic methods for evaluating the driving safety of unmanned vehicles, an enhanced driving safety field model is proposed, taking into account the impact of the complex road factors of unmanned vehicles as well as the characteristics of three artificial intelligence (AI) system modules: perception, decision-making, and control. A mathematical model of unmanned vehicle driving safety field combining dynamic potential field and safety behavior field is established based on Hooke’s law to characterize the driving risks caused by static objects, moving objects and AI system itself on the road. The correctness and usability of the proposed model is verified by the driving safety analysis of typical driving scenarios.
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