-[7],等人設計了一種基于考慮DOC（信心度）的MPC（模型預測控制）的路徑規(guī)劃來降低由于司機對自動駕駛系統(tǒng)不信任而導致的人為誤用。（4）總結預期功能安全（SOTIF）是智能駕駛汽車的重要安全問題，但目前關于SOTIF的研究處于早期階段。ISO21448標準文檔提供了實現(xiàn)SOTIF所需的適用設計、驗證和驗證措施的指南。在此基礎上，現(xiàn)有的研究提供了一些“識別和評估預期功能導致的風險”和“識別和評估潛在功能不足和觸發(fā)條件”的方法，針對某一具體問題的整體SOTIF分析和“功能改進來降低SOTIF風險”的方法的研究較少。參考文獻ISO.SafetyoftheIntendedFunctionality：ISO/PAS21448:2019[S].Geneva:ISO,2019.LurieO,MillerJ.HazardAnalysisandRiskAssessmentbeyondISO26262:ManagementofComplexityViaParametrization[J].SAETechnicalPaper,2018,01:1067.HouZ,LiuH,ZhangY.Zero-dayVulnerabilityInspiredHazardAssessmentforAutonomousDrivingVehicles[C]//2019IEEE19thInternationalConferenceonCommunicationTechnology(ICCT).IEEE,2019.ZhangX,ShaoW,ZhouM,etal.Ascenecomprehensivesafetyevaluationmethodbasedonbinocularcamera[J].RoboticsandAutonomousSystems,2020,128:103503.MartinH,WinklerB,S.Grubmüller,etal.Identificationofperformancelimitationsofsensingtechnologiesforautomateddriving[C]//2019IEEEInternationalConferenceonConnectedVehiclesandExpo(ICCVE).IEEE,2019.尚世亮,童菲,郭夢鴿,等.基于駕駛員信心度的SOTIF評價模型建立與試驗[J].機械設計與研究,2020,v.36;No.186(02):128-132.GuoM,ShangS,HaifengC,etal.ControlModelofAutomatedDrivingSystemsBasedonSOTIFEvaluation[C]//WCXSAEWorldCongressExperience.2020.高振海,王竣,佟靜,等.車載毫米波雷達對前方目標的運動狀態(tài)估計[J].吉林大學學報(工學版),44(06):1537-1544.（可英文）劉志峰,王建強,李克強.具有魯棒特性的車載雷達有效目標確定方法[J].清華大學學報:自然科學版,2008(05):875-878.ZhangD,LiK,WangJ.Radar-basedtargetidentificationandtrackingonacurvedroad[J].ProceedingsoftheInstitutionofMechanicalEngineersPartDJournalofAutomobileEngineering,2012,226(1):39-47.ShiJ,WuJ.ResearchonAdaptiveCruiseControlbasedoncurveradiusprediction[C]//20172ndInternationalConferenceonImage,VisionandComputing(ICIVC).IEEE,2017.SongS,WuJ,YangY,etal.ResearchonTrackingAlgorithmforForwardTarget-VehicleUsingMillimeter-WaveRadar[C]//WCXSAEWorldCongressExperience.2020.HuangL,ChenH,YuZ,etal.Multi-TargetTrackingAlgorithmintheComplicatedRoadConditionforAutomotiveMillimeter-waveRadar[C]//SaeWorldCongress&Exhibition.2016.SchiffmannJK,WidmannGR.Model-basedscenetrackingusingradarsensorsforintelligentautomotivevehiclesystems[C]//IEEEConferenceonIntelligentTransportationSystem,Itsc.IEEE,1997.M