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

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

doi:10.1007/978-3-030-38077-9_129

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

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.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks
Subtitle of host publication	Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden
Editors	Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Publisher	Springer
Pages	1107-1113
Number of pages	7
Edition	1
ISBN (Electronic)	9783030380779
ISBN (Print)	9783030380762
DOIs	https://doi.org/10.1007/978-3-030-38077-9_129
Publication status	Published - 2020
Externally published	Yes
Event	The 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks - Duration: 11 Aug 2019 → 16 Aug 2019

Publication series

Name	Lecture Notes in Mechanical Engineering
Publisher	Springer International Publishing

Conference

Conference	The 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks
Period	11/08/19 → 16/08/19

Keywords

Automated vehicle
Vehicle motion control
Human-mimicked control
Human-like control

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-030-38077-9_129

http://eprints.whiterose.ac.uk/148723/

Cite this

Wei, C., Romano, R., Merat, N., Hajiseyedjavadi, F., Solernou, A., Paschalidis, E., & Boer, E. R. (2020). Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control. In M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden (1 ed., pp. 1107-1113). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_129

Wei, Chongfeng ; Romano, Richard ; Merat, Natasha et al. / Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control. Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. editor / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. 1. ed. Springer, 2020. pp. 1107-1113 (Lecture Notes in Mechanical Engineering).

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title = "Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control",

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{\textquoteright}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{\textquoteright} 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{\textquoteright} behaviour, in both longitudinal and lateral directions.",

keywords = "Automated vehicle, Vehicle motion control, Human-mimicked control, Human-like control",

author = "Chongfeng Wei and Richard Romano and Natasha Merat and Foroogh Hajiseyedjavadi and Albert Solernou and Evangelos Paschalidis and Boer, \{Erwin R.\}",

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booktitle = "Advances in Dynamics of Vehicles on Roads and Tracks",

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edition = "1",

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Wei, C, Romano, R, Merat, N, Hajiseyedjavadi, F, Solernou, A, Paschalidis, E & Boer, ER 2020, Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control. in M Klomp, F Bruzelius, J Nielsen & A Hillemyr (eds), Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. 1 edn, Lecture Notes in Mechanical Engineering, Springer, pp. 1107-1113, The 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, 11/08/19. https://doi.org/10.1007/978-3-030-38077-9_129

Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control. / Wei, Chongfeng; Romano, Richard; Merat, Natasha et al.
Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. ed. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. 1. ed. Springer, 2020. p. 1107-1113 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control

AU - Wei, Chongfeng

AU - Romano, Richard

AU - Merat, Natasha

AU - Hajiseyedjavadi, Foroogh

AU - Solernou, Albert

AU - Paschalidis, Evangelos

AU - Boer, Erwin R.

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

KW - Automated vehicle

KW - Vehicle motion control

KW - Human-mimicked control

KW - Human-like control

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U2 - 10.1007/978-3-030-38077-9_129

DO - 10.1007/978-3-030-38077-9_129

M3 - Conference contribution

SN - 9783030380762

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BT - Advances in Dynamics of Vehicles on Roads and Tracks

A2 - Klomp, Matthijs

A2 - Bruzelius, Fredrik

A2 - Nielsen, Jens

A2 - Hillemyr, Angela

PB - Springer

T2 - The 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks

Y2 - 11 August 2019 through 16 August 2019

ER -

Wei C, Romano R, Merat N, Hajiseyedjavadi F, Solernou A, Paschalidis E et al. Achieving Driving Comfort of AVs by Combined Longitudinal and Lateral Motion Control. In Klomp M, Bruzelius F, Nielsen J, Hillemyr A, editors, Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. 1 ed. Springer. 2020. p. 1107-1113. (Lecture Notes in Mechanical Engineering). Epub 2020 Feb 13. doi: 10.1007/978-3-030-38077-9_129

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

Abstract

Publication series

Conference

Keywords

UN SDGs

Access to Document

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