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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationAdvances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
EditorsMatthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
PublisherSpringer
Pages1107-1113
Number of pages7
ISBN (Print)9783030380762
DOIs
Publication statusPublished - 2020
Externally publishedYes
Event26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden
Duration: 12 Aug 201916 Aug 2019

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
CountrySweden
CityGothenburg
Period12/08/201916/08/2019

Bibliographical note

Funding Information:
The work described in this abstract was undertaken in connection with the HumanDrive project which is co-funded by Innovate UK, the UK?s innovation agency. This abstract is submitted with kind permission from the HumanDrive consortium: Nissan, Hitachi, Horiba MIRA, Atkins Ltd, Aimsun Ltd, SBD Automotive, University of Leeds, Highways England, Cranfield University and the Connected Places Catapult.

Publisher Copyright:
© 2020, Springer Nature Switzerland AG.

Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.

Keywords

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

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes

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