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Evaluating Model Mismatch Impacting CACC Controllers in Mixed
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), Centre for Research on Embedded Systems (CERES). Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
Communication Systems Department, EURECOM, Sophia-Antipolis, France.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS). 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), 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
IEEE, 2018. p. 1867-1872
Keywords [en]
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
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:hh:diva-38740DOI: 10.1109/IVS.2018.8500479Scopus 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-38740DiVA, id: diva2:1277594
Conference
2018 IEEE Intelligent Vehicles Symposium, IV 2018, Changshu, China, 26-30 September, 2018
Note

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.

Available from: 2019-01-10 Created: 2019-01-10 Last updated: 2019-01-10Bibliographically approved

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Aramrattana, MaytheewatEnglund, Cristofer

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