Driving Preference Metric-Aware Control for Self-Driving Vehicles

Il Bae, Jaeyoung Moon, Shiho Kim

Research output: Contribution to journalArticlepeer-review

Abstract

One of crucial concern of autonomous vehicles is that driver may experience discomfort, if the driving pattern of the vehicle is quite different from her/his personal driving style. This study focuses on an autonomous vehicle control based on user’s driving preference adopted to provide a personalized and a familiar driving experience to autonomous vehicle users. For this purpose, we defined a driver’s driving preference metric (DPM) to reflect their own driving style by specifying a preferred lateral and longitudinal acceleration region. Moreover, we also proposed a time optimal speed planning that utilize the DPM control parameters extracted from a GG diagram to provide a DPM-aware maneuvering for a personalized autonomous driving. The performance of the proposed planning strategy and a combined vehicle controller were verified using on-road experimental tests. The experimental result shows that the proposed DPM-aware system can control the lateral and longitudinal acceleration of autonomous vehicle within 28.7% of peak error tolerance from the specified criterion of DPM.

Original languageEnglish
Pages (from-to)157-166
Number of pages10
JournalInternational Journal of Intelligent Engineering and Systems
Volume12
Issue number6
DOIs
Publication statusPublished - 2019

Bibliographical note

Funding Information:
This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the “ICT Consilience Creative Program” (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation). The authors performed this work as a part of research projects of SKT-Yonsei Cooperative Autonomous Driving Research Center supported by the SK Telecom ICT R&D Center.

Publisher Copyright:
© 2019

All Science Journal Classification (ASJC) codes

  • Computer Science(all)
  • Engineering(all)

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