Integrated framework for vehicle operator assistance based on a trajectory prediction and threat assessment

A method for generating a threat response, related to threat posed to a mechanical device, comprising:

• using a computer control system, determining an optimal sequence of predicted device controller inputs based on at least a model of the device and an objective function, the optimal sequence of predicted device controller inputs being determined so as to optimize predicted performance of the model over a time horizon over which the device model is simulated and satisfy device dynamic constraints, device input constraints, and environmental constraints;
• using the computer control system, determining an optimal sequence of predicted device states resulting from applying the sequence of optimal device inputs to the model of the device;
• using the computer control system, combining at least one of:
• the predicted device states and the predicted device controller inputs, into a scalar threat assessment metric based at least on predicted stability of the device through the time horizon as a function of the at least one of the predicted device states and the predicted device controller inputs;
• and,
• using the computer control system, determining a type and degree of operator assistance to provide as the threat response based on at least the scalar threat assessment metric, and providing an actuator input based on at least the threat response to an actuator that actuates a system of the device to execute the operator assistance.