Human-like trapezoidal steering angle model on two-lane urban curves. (5th August 2019)

• Record Type: Journal Article
• Authors: Jiang, Haobin; Zhou, Jie; Li, Aoxue; Zhou, Xinchen; Ma, Shidian
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 4(2019:Jul./Aug.)
• Publication Date: 2019-08-05
• Subjects: Automated vehicle trapezoidal steering angle model -- human-like trajectory planning -- MPC -- two-lane urban curves; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419867614
• Languages: English
• ISSNs: 1729-8806

Abstract

With the rapid development of automated vehicles, there is currently a significant amount of automated driving research. Giving automated vehicles capabilities similar to those of experienced drivers will allow them to share the road harmoniously with manned vehicles, especially on two-lane urban curves. To represent the steering behavior of experienced drivers, a series of curve feature distances are proposed, which is determined by multi-regression. These series of curve feature distances are used to generate a trapezoidal steering angle model which imitates the steering behavior of the experienced test drivers. To verify the feasibility and human-likeness of the proposed trapezoidal steering angle model, the model is used with constant vehicle speed to plan a human-like trajectory which is tracked using model predictive control. The simulation results show that the proposed trapezoidal steering angle model is human-like and could be used to give automated vehicles human-like driving capability when driving on two-lane curves.