Development and evaluation of driving speed controller for lane merging considering surrounding driver's intention toward stress-free driving
Development and evaluation of driving speed controller for lane merging considering surrounding driver's intention toward stress-free driving
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考虑周围驾驶员无压力驾驶意图的车道合并行驶速度控制器的开发和评估
DOI：
10.1080/18824889.2021.1939627
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Suzuki Tatsuya
中科院分区：
文献类型：
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作者：
Kawaguchi Masato;Tran Anh Tuan;Okuda Hiroyuki;Suzuki Tatsuya
提出了一种执行车道合并任务的模型预测控制器。我们考虑由内部和外部控制循环组成的分层控制结构。内环是自适应巡航控制器，它向自动合流车发出加速命令，使其遵循指定速度并保持与前车的相对距离，同时满足基于显式最优控制的约束。外环确定自动驾驶汽车应遵循的主车道上的汽车，以最大限度地提高主车道上人类驾驶员决策的接受度和清晰度。所提出的系统在驾驶模拟器中的并道汽车上实施，人类驾驶员在主车道上行驶时评估并道汽车。该系统的有效性是通过人类驾驶员的客观和主观评估来确定的。
A model predictive controller to perform a lane-merging task is proposed. We consider a hierarchical control structure that consists of an inner and outer control loop. The inner loop is an adaptive cruise controller that gives the acceleration command to the autonomous merging car to follow the designated speed and maintain a relative distance from the preceding vehicle while satisfying the constraints based on explicit optimal control. The outer loop determines the car in the main lane that the autonomous car should follow to maximize the acceptance and clarity of the decision-making of the human drivers in the main lane. The proposed system is implemented on the merging car in a driving simulator, and the human driver evaluates the merging car while driving in the main lane. The validity of the proposed system was determined through objective and subjective evaluations by human drivers.