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Evaluating Model Mi...
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Aramrattana, MaytheewatStatens 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
(författare)
Evaluating Model Mismatch Impacting CACC Controllers in Mixed
- Artikel/kapitelEngelska2018
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Institute of Electrical and Electronics Engineers Inc.2018
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LIBRIS-ID:oai:DiVA.org:ri-38617
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https://urn.kb.se/resolve?urn=urn:nbn:se:ri:diva-38617URI
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https://doi.org/10.1109/IVS.2018.8500479DOI
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https://urn.kb.se/resolve?urn=urn:nbn:se:vti:diva-13370URI
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https://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-38740URI
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Språk:engelska
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Sammanfattning på:engelska
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Funding: Raj Haresh Patel is a recipient of a PhD Grant from the Graduate School of the University Pierre Marie Curie (UPMC), Paris. EURECOM acknowledges the support of its industrial members, namely BMW Group, IABG, Monaco Telecom, Orange, SAP and Symantec.
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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.
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Patel, Raj HareshCommunication Systems Department, EURECOM, Sophia-Antipolis, France
(författare)
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Englund, Cristofer,1977-RISE,Viktoria,Halmstad University, Sweden,Högskolan i Halmstad,Halmstad Embedded and Intelligent Systems Research (EIS),RISE Viktoria, Gothenburg, Sweden(Swepub:hh)crieng
(författare)
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Härri, JeromeCommunication Systems Department, EURECOM, Sophia-Antipolis, France
(författare)
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Jansson, Jonas,1973-Statens väg- och transportforskningsinstitut,Trafik och trafikant,TRAF,EURECOM,Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden(Swepub:vti)jonas.jansson@vti.se
(författare)
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Bonnet, ChristianCommunication Systems Department, EURECOM, Sophia-Antipolis, France
(författare)
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Statens väg- och transportforskningsinstitutKörsimulering och visualisering, SIM
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:IEEE Intelligent Vehicles Symposium, Proceedings: Institute of Electrical and Electronics Engineers Inc., s. 1867-1872978153864452297815386445159781538644539
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