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

^*Corresponding author for this work

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

Publication series

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

Conference

Conference	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Country/Territory	Sweden
City	Gothenburg
Period	12/08/2019 → 16/08/2019

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

UN SDGs

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

Access to Document

10.1007/978-3-030-38077-9_129Licence: Unspecified

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 (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. editor / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. 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.",

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

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: {\textcopyright} 2020, Springer Nature Switzerland AG. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 ; Conference date: 12-08-2019 Through 16-08-2019",

year = "2020",

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language = "English",

isbn = "9783030380762",

series = "Lecture Notes in Mechanical Engineering",

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booktitle = "Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019",

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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. Lecture Notes in Mechanical Engineering, Springer, pp. 1107-1113, 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, Gothenburg, Sweden, 12/08/2019. 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. ed. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. Springer, 2020. p. 1107-1113 (Lecture Notes in Mechanical Engineering).

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

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AU - Solernou, Albert

AU - Paschalidis, Evangelos

AU - Boer, Erwin R.

N1 - 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.

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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.

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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. Springer. 2020. p. 1107-1113. (Lecture Notes in Mechanical Engineering). 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

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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Cite this