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arXiv · 2001.03908

Self-Driving like a Human driver instead of a Robocar: Personalized comfortable driving experience for autonomous vehicles

Il Bae·Jaeyoung Moon·Junekyo Jhung·Ho Suk·Taewoo Kim·Hyungbin Park·Jaekwang Cha·Jinhyuk Kim·Dohyun Kim·Shiho Kim
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Abstract

This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose an Occupant's Preference Metric (OPM) which is defining a preferred lateral and longitudinal acceleration region with maximum allowable jerk for users. Moreover, we propose a vehicle controller based on control parameters enabling integrated lateral and longitudinal control via preference-aware maneuvering of autonomous vehicles. The proposed system not only provides the criteria for the occupant's driving preference, but also provides a personalized autonomous self-driving style like a human driver instead of a Robocar. The simulation and experimental results demonstrated that the proposed system can maneuver the self-driving vehicle like a human driver by tracking the specified criterion of admissible acceleration and jerk.

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Il Bae, Jaeyoung Moon, Junekyo Jhung, Ho Suk, Taewoo Kim, Hyungbin Park, Jaekwang Cha, Jinhyuk Kim, Dohyun Kim, Shiho Kim. 2020-01-12. Self-Driving like a Human driver instead of a Robocar: Personalized comfortable driving experience for autonomous vehicles. https://arxiv.org/abs/2001.03908

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