Wei, C, Paschalidis, E orcid.org/0000-0001-7648-525X, Merat, N orcid.org/0000-0003-4140-9948 et al. (3 more authors) (2023) Human-like Decision Making and Motion Control for Smooth and Natural Car Following. IEEE Transactions on Intelligent Vehicles, 8 (1). pp. 263-274. ISSN 2379-8858
Abstract
Car-following is an important driving behaviour for intelligent vehicles and has a significant impact on traffic efficiency and traffic safety. Car-following models are widely developed to characterize the human-drivers’ car-following manoeuvre actions and adopted in traffic simulation and automated vehicle control system development. Car-following models need to be able to represent the drivers’ behaviour while following preceding vehicles. On the other hand, car-following controllers are an important component of intelligent vehicle systems, both for autonomous vehicles and connected vehicles. However, Adaptive Cruise Control (ACC) as well as Cooperative Adaptive Cruise Control (CACC) do not include human behaviour, which makes their car-following behaviour not human-like or natural for the on-board driver or passenger. To address this problem, in this study, the human-like Wiedemann car-following model is calibrated and verified with our driving simulator data. A human-like car-following nonlinear model predictive control (MPC) controller is developed based on the calibrated car-following model. Three different scenarios are tested to evaluate the performance of the proposed controller, with which the autonomous vehicle is able to have human-like and smooth trajectories at different phases and within different transition zones.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Car-following, Model Predictive Control, Human-like, Calibration, Wiedemann |
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 Nissan Technical Centre (Europe) Not Known |
Depositing User: | Symplectic Publications |
Date Deposited: | 20 Jul 2021 13:33 |
Last Modified: | 12 Apr 2023 14:11 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/TIV.2021.3098184 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:176252 |