Wei, C orcid.org/0000-0002-4565-509X, Romano, R orcid.org/0000-0002-2132-4077, Hajiseyedjavadi, F et al. (2 more authors) (2019) Driver-centred Autonomous Vehicle Motion Control within A Blended Corridor. In: IFAC-PapersOnLine. 9th IFAC International Symposium on Advances in Automotive Control (AAC 19), 24-27 Jun 2019, Orleans, France. International Federation of Automatic Control , pp. 212-217.
Abstract
As a potential cornerstone of the future intelligent transport system, autonomous vehicles (AVs) attract much attention of researchers across a wide range of areas from engineering to computer science. In addition, human factors issues, with respect to transfer of control and the interaction between the AVs and other road users have been studied. Current AV control algorithm development has focused on improving the safety of the vehicle, while the comfort of the drivers are normally ignored. Therefore, motion planning must not only avoid collisions between the vehicle and other road users and the road edges, but also needs to provide a sense of security and comfort for the drivers. Moreover, strict lane following can lead to overly cautious AVs relative to other road users, and thereby lead to traffic accidents. To solve these problems, we estimated the acceptable tolerance of the lateral offset based on the measured driving performance of real drivers and their reaction to a range of risk elements. Together with the vehicle dynamic constraints, the risk-based constraints are incorporated into a nonlinear Model Predictive Control (MPC) controller using a blended corridor. The result is a vehicle trajectory that produces a smooth motion within the corridor that considers the drivers’ comfort.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Model Predictive Control; Blended Corridor; Risk Elements; Driver-Centred |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Environment (Leeds) > Institute for Transport Studies (Leeds) > ITS: Safety and Technology (Leeds) |
Funding Information: | Funder Grant number Innovate UK fka Technology Strategy Board (TSB) 84063-528134 |
Depositing User: | Symplectic Publications |
Date Deposited: | 17 Apr 2019 08:41 |
Last Modified: | 25 Jun 2023 21:47 |
Published Version: | https://www.journals.elsevier.com/ifac-papersonlin... |
Status: | Published |
Publisher: | International Federation of Automatic Control |
Identification Number: | 10.1016/j.ifacol.2019.09.034 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144914 |