Evaluating Model Mismatch Impacting CACC Controllers in Mixed Traffic using a Driving Simulator

Aramrattana, Maytheewat,1988-Högskolan i Halmstad,Akademin för informationsteknologi,Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden (författare)

Funsing: 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.
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. © 2018 IEEE.

Patel, Raj HareshCommunication Systems Department, EURECOM, Sophia-Antipolis, France (författare)
Englund, Cristofer,1977-Högskolan i Halmstad,Akademin för informationsteknologi,RISE Viktoria, Gothenburg, Sweden(Swepub:hh)crieng (författare)
Harri, JeromeCommunication Systems Department, EURECOM, Sophia-Antipolis, France (författare)
Jansson, JonasSwedish National Road and Transport Research Institute (VTI), Linköping, Sweden (författare)
Bonnet, ChristianCommunication Systems Department, EURECOM, Sophia-Antipolis, France (författare)
Högskolan i HalmstadAkademin för informationsteknologi (creator_code:org_t)

Ingår i:2018 IEEE Intelligent Vehicles Symposium (IV)New York, NY : IEEE, s. 1867-1872978153864452297815386445159781538644539

Av författaren/redakt...: Aramrattana, May ...; Patel, Raj Hares ...; Englund, Cristof ...; Harri, Jerome; Jansson, Jonas; Bonnet, Christia ...

Om ämnet

TEKNIK OCH TEKNOLOGIER: TEKNIK OCH TEKNO ...; och Elektroteknik oc ...; och Annan elektrotek ...

Kungliga biblioteket hanterar dina personuppgifter i enlighet med EU:s dataskyddsförordning (2018), GDPR. Läs mer om hur det funkar här.
Så här hanterar KB dina uppgifter vid användning av denna tjänst.