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Evaluating Model Mi...
Evaluating Model Mismatch Impacting CACC Controllers in Mixed
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- Aramrattana, Maytheewat (författare)
- Statens väg- och transportforskningsinstitut,Körsimulering och visualisering, SIM,Högskolan i Halmstad,Halmstad University, Sweden; VTI Swedish National Road and Transport Research Institute, Sweden,Centrum för forskning om inbyggda system (CERES),Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden
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- Patel, Raj Haresh (författare)
- Communication Systems Department, EURECOM, Sophia-Antipolis, France
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- Englund, Cristofer, 1977- (författare)
- RISE,Viktoria,Halmstad University, Sweden,Högskolan i Halmstad,Halmstad Embedded and Intelligent Systems Research (EIS),RISE Viktoria, Gothenburg, Sweden
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- Härri, Jerome (författare)
- Communication Systems Department, EURECOM, Sophia-Antipolis, France
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- Jansson, Jonas, 1973- (författare)
- Statens väg- och transportforskningsinstitut,Trafik och trafikant,TRAF,EURECOM,Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden
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- Bonnet, Christian (författare)
- Communication Systems Department, EURECOM, Sophia-Antipolis, France
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers Inc. 2018
- 2018
- Engelska.
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Ingår i: IEEE Intelligent Vehicles Symposium, Proceedings. - : Institute of Electrical and Electronics Engineers Inc.. - 9781538644522 - 9781538644515 - 9781538644539 ; , s. 1867-1872
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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https://urn.kb.se/re...
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https://urn.kb.se/re...
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Abstract
Ämnesord
Stäng
- At early market penetration, automated vehicles will share the road with legacy vehicles. For a safe transportation system, automated vehicle controllers therefore need to estimate the behavior of the legacy vehicles. However, mismatches between the estimated and real human behaviors can lead to inefficient control inputs, and even collisions in the worst case. In this paper, we propose a framework for evaluating the impact of model mismatch by interfacing a controller under test with a driving simulator. As a proof- of-concept, an algorithm based on Model Predictive Control (MPC) is evaluated in a braking scenario. We show how model mismatch between estimated and real human behavior can lead to a decrease in avoided collisions by almost 46%, and an increase in discomfort by almost 91%. Model mismatch is therefore non-negligible and the proposed framework is a unique method to evaluate them.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
Nyckelord
- Behavioral research
- Intelligent vehicle highway systems
- Model predictive control
- Predictive control systems
- Vehicles
- Automated vehicles
- Control inputs
- Driving simulator
- Evaluating models
- Human behaviors
- Market penetration
- Proof of concept
- Transportation system
- Controllers
- 914 Road: ITS och vehicle technology
- 841 Road: Road user behaviour
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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