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Evaluating Model Mismatch Impacting CACC Controllers in Mixed
Halmstad University, Sweden; VTI Swedish National Road and Transport Research Institute, Sweden.
EURECOM, France.
RISE - Research Institutes of Sweden, ICT, Viktoria. Halmstad University, Sweden.
EURECOM, France.
Show others and affiliations
2018 (English)In: IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers Inc. , 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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 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
Engineering and Technology
Identifiers
URN: urn:nbn:se:ri:diva-38617DOI: 10.1109/IVS.2018.8500479Scopus ID: 2-s2.0-85056772722ISBN: 9781538644522 (print)OAI: oai:DiVA.org:ri-38617DiVA, id: diva2:1314936
Conference
2018 IEEE Intelligent Vehicles Symposium, IV 2018, 26 September 2018 through 30 September 2018
Available from: 2019-05-10 Created: 2019-05-10 Last updated: 2019-08-02Bibliographically approved

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