Comfort and Time Efficiency

A Roundabout Case Study

Conference paper (2021)

Authors

Y. Zheng Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
B. Shyrokau Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
T. Keviczky Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
Research Group
Intelligent Vehicles (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Y. Zheng, B. Shyrokau, T. Keviczky
DOI: https://doi.org/10.1109/ITSC48978.2021.9564921
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Intelligent Vehicles

Abstract

The public acceptance of automated driving is influenced by multiple factors. Apart from safety being of top priority, comfort and time efficiency also have an impact on the popularity of automated vehicles. These two factors contradict each other as optimizing for one results in the degradation of the other. We investigate in this paper how such a multiobjective problem is approached by human drivers and by numerical optimization in the roundabout scenario, which is compact in size but complex to handle. The human drivers' behavior is first observed using naturalistic driving data. The average trajectories and distribution of peak accelerations were extracted after model-based fitting and removal of erroneous samples. The processed data is shared online as an open-access dataset. Then, an optimization problem is formulated and solved to find the numerically optimal motion profile in terms of comfort and time efficiency. The weighted sum of travel time and discomfort is minimized. By adjusting the weight distribution, we present different motion profiles favoring optimal comfort, human-like acceleration magnitudes, and agility, respectively.

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- Embargo expired in 25-04-2022