Skip to main content
main-content
Top

Hint

Swipe to navigate through the chapters of this book

2020 | OriginalPaper | Chapter

Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control

Authors: Chongfeng Wei, Richard Romano, Natasha Merat, Foroogh Hajiseyedjavadi, Albert Solernou, Evangelos Paschalidis, Erwin R. Boer

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

share
SHARE

Abstract

As automated vehicles (AVs) are moving closer to practical reality, one of the problems that needs to be resolved is how to achieve an acceptable and natural risk management behaviour for the on-board users. Cautious automated driving behaviour is normally demonstrated during the AV testing, by which the safety issue between the AV and other road users or other static risk elements can be guaranteed. However, excessive cautiousness of the AVs may lead to traffic congestion and strange behaviour that will not be accepted by drivers and other road users. Human-like automated driving, as an emerging technique, has been concentrated on mimicking a human driver’s behaviour in order that the behaviour of the AVs can provide an acceptable behaviour for both the drivers (and passengers) and the other road users. The human drivers’ behaviour was obtained through simulator based driving and this study developed a nonlinear model predictive control to optimise risk management behaviour of AVs by taking into account human-driven vehicles’ behaviour, in both longitudinal and lateral directions.
Literature
1.
go back to reference Chu, K., Lee, M., Sunwoo, M.: Local path planning for off-road autonomous driving with avoidance of static obstacles. IEEE Trans. Intell. Transp. Syst. 13(4), 1599–1616 (2012) CrossRef Chu, K., Lee, M., Sunwoo, M.: Local path planning for off-road autonomous driving with avoidance of static obstacles. IEEE Trans. Intell. Transp. Syst. 13(4), 1599–1616 (2012) CrossRef
2.
go back to reference Rasekhipour, Y., Khajepour, A., Chen, S., Litkouhi, B.: A potential field-based model predictive path-planning controller for autonomous road vehicles. IEEE Trans. Intell. Transp. Syst. 18(5), 1255–1267 (2017) CrossRef Rasekhipour, Y., Khajepour, A., Chen, S., Litkouhi, B.: A potential field-based model predictive path-planning controller for autonomous road vehicles. IEEE Trans. Intell. Transp. Syst. 18(5), 1255–1267 (2017) CrossRef
3.
go back to reference Wei, C., Romano, R., Hajiseyedjavadi, F., Merat, N., Boer, E.R.: Driver-centred autonomous vehicle motion control within a blended corridor. In: Advances in Automotive Control - 9th AAC (2019, in press) Wei, C., Romano, R., Hajiseyedjavadi, F., Merat, N., Boer, E.R.: Driver-centred autonomous vehicle motion control within a blended corridor. In: Advances in Automotive Control - 9th AAC (2019, in press)
4.
go back to reference Voß, G.M.I., Keck, C.M., Schwalm, M.: Investigation of drivers’ thresholds of a subjectively accepted driving performance with a focus on automated driving. Transp. Res. Part F: Traffic Psychol. Behav. 56, 280–292 (2018) CrossRef Voß, G.M.I., Keck, C.M., Schwalm, M.: Investigation of drivers’ thresholds of a subjectively accepted driving performance with a focus on automated driving. Transp. Res. Part F: Traffic Psychol. Behav. 56, 280–292 (2018) CrossRef
5.
go back to reference Boer, E.R.: Satisficing curve negotiation: explaining drivers’ situated lateral position variability. IFAC-PapersOnLine 49(19), 183–188 (2016) CrossRef Boer, E.R.: Satisficing curve negotiation: explaining drivers’ situated lateral position variability. IFAC-PapersOnLine 49(19), 183–188 (2016) CrossRef
6.
go back to reference Pacejka, H.B.: Tyre and Vehicle Dynamics, 2nd edn. Butterworth-Heinemann, Oxford (2005) Pacejka, H.B.: Tyre and Vehicle Dynamics, 2nd edn. Butterworth-Heinemann, Oxford (2005)
Metadata
Title
Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control
Authors
Chongfeng Wei
Richard Romano
Natasha Merat
Foroogh Hajiseyedjavadi
Albert Solernou
Evangelos Paschalidis
Erwin R. Boer
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_129

Premium Partner