Enhanced Emotion Enabled Cognitive Agent Based Rear End Collision Avoidance Controller for Autonomous Vehicles

TL;DR

This paper introduces an enhanced cognitive agent model based on fear emotion for autonomous vehicle collision avoidance, addressing limitations of existing fuzzy logic approaches and demonstrating improved efficiency and performance.

Contribution

The paper proposes a novel EEEC_Agent model that uses emotion-driven decision making with fewer rules, improving collision avoidance in autonomous vehicles.

Findings

EEEC_Agent effectively reduces the number of rules needed for collision avoidance.

Simulation and practical tests show improved response times and safety performance.

Qualitative comparison indicates superior performance over existing methods.

Abstract

Rear end collisions are deadliest in nature and cause most of traffic casualties and injuries. In the existing research, many rear end collision avoidance solutions have been proposed. However, the problem with these proposed solutions is that they are highly dependent on precise mathematical models. Whereas, the real road driving is influenced by non-linear factors such as road surface situations, driver reaction time, pedestrian flow and vehicle dynamics, hence obtaining the accurate mathematical model of the vehicle control system is challenging. This problem with precise control based rear end collision avoidance schemes has been addressed using fuzzy logic, but the excessive number of fuzzy rules straightforwardly prejudice their efficiency. Furthermore, these fuzzy logic based controllers have been proposed without using proper agent based modeling that helps in mimicking the functions of an artificial human driver executing these fuzzy rules. Keeping in view these limitations, we have proposed an Enhanced Emotion Enabled Cognitive Agent (EEEC_Agent) based controller that helps the Autonomous Vehicles (AVs) to perform rear end collision avoidance with less number of rules, designed after fear emotion, and high efficiency. To introduce a fear emotion generation mechanism in EEEC_Agent, Orton, Clore & Collins (OCC) model has been employed. The fear generation mechanism of EEEC_Agent has been verified using NetLogo simulation. Furthermore, practical validation of EEEC_Agent functions has been performed using specially built prototype AV platform. Eventually, the qualitative comparative study with existing state of the art research works reflect that proposed model outperforms recent research.