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Evaluating Model Mismatch Impacting CACC Controllers in Mixed Traffic using a Driving Simulator
Halmstad University, School of Information Technology. Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.ORCID iD: 0000-0003-4951-5315
Communication Systems Department, EURECOM, Sophia-Antipolis, France.
Halmstad University, School of Information Technology. RISE Viktoria, Gothenburg, Sweden.ORCID iD: 0000-0002-1043-8773
Communication Systems Department, EURECOM, Sophia-Antipolis, France.
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2018 (English)In: 2018 IEEE Intelligent Vehicles Symposium (IV), New York, NY: IEEE, 2018, p. 1867-1872Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
New York, NY: IEEE, 2018. p. 1867-1872
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hh:diva-52252DOI: 10.1109/IVS.2018.8500479ISI: 000719424500291Scopus ID: 2-s2.0-85056772722ISBN: 978-1-5386-4452-2 (electronic)ISBN: 978-1-5386-4451-5 (electronic)ISBN: 978-1-5386-4453-9 (print)OAI: oai:DiVA.org:hh-52252DiVA, id: diva2:1822135
Conference
IEEE Intelligent Vehicles Symposium (IV), Changshu, Suzhou, China, June 26-30, 2018
Note

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.

Available from: 2023-12-21 Created: 2023-12-21 Last updated: 2023-12-21Bibliographically approved

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Aramrattana, MaytheewatEnglund, Cristofer

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