Learning-Based Modeling of Human-Autonomous Vehicle Interaction for Improved Safety in Mixed-Vehicle Platooning Control

Abstract

The rising presence of autonomous vehicles (AVs) on public roads necessitates the development of advanced control strategies that account for the unpredictable nature of human-driven vehicles (HVs). This study introduces a learning-based method for modeling HV behavior, combining a traditional first-principles approach with a Gaussian process (GP) learning component. This hybrid model enhances the accuracy of velocity predictions and provides measurable uncertainty estimates. We leverage this model to develop a GP-based model predictive control (GP-MPC) strategy to improve safety in mixed vehicle platoons by integrating uncertainty assessments into distance constraints. Comparative simulations between our GP-MPC approach and a conventional model predictive control (MPC) strategy reveal that the GP-MPC ensures safer distancing and more efficient travel within the mixed platoon. By incorporating sparse GP modeling for HVs and a dynamic GP prediction in MPC, we significantly reduce the computation time of GP-MPC, making it only marginally longer than standard MPC and approximately 100 times faster than previous models not employing these techniques. Our findings underscore the effectiveness of learning-based HV modeling in enhancing safety and efficiency in mixed-traffic environments involving AV and HV interactions.