TY - JOUR
T1 - Natural Speed Planning for Connected Car Using Slack Variable within Social Norm
AU - Kwon, Solyeon
AU - Han, Kyoungseok
N1 - Publisher Copyright:
Copyright © 2023 KSAE.
PY - 2023/1
Y1 - 2023/1
N2 - In recent years, studies on natural behavior planning for autonomous vehicles have been popular in both the academia and the industry. This study proposes receding-horizon control, framework-based vehicle speed planning. Using a sufficiently long prediction horizon, our approach is aimed at a smoothed velocity trajectory, reducing the entire trip time by passing the traffic light properly. Moreover, the proposed method mimics a human driver naturally in terms of driving styles (i.e., conservative, general, and aggressive behaviors), In the view of the social norm, the planned speed from our approach sometimes exceeds the specified speed limit, but it does not violate strict traffic rules. In this manner, the controlled, connected, and automated vehicle behaves as human drivers do in their daily driving. Specifically, we impose a slack variable to the proposed control framework when upcoming traffic information is available, so that the vehicle can pass the traffic signal at the yellow light phase. By relaxing state constraints, the test results in this paper show a reduction in trip time and fuel consumption.
AB - In recent years, studies on natural behavior planning for autonomous vehicles have been popular in both the academia and the industry. This study proposes receding-horizon control, framework-based vehicle speed planning. Using a sufficiently long prediction horizon, our approach is aimed at a smoothed velocity trajectory, reducing the entire trip time by passing the traffic light properly. Moreover, the proposed method mimics a human driver naturally in terms of driving styles (i.e., conservative, general, and aggressive behaviors), In the view of the social norm, the planned speed from our approach sometimes exceeds the specified speed limit, but it does not violate strict traffic rules. In this manner, the controlled, connected, and automated vehicle behaves as human drivers do in their daily driving. Specifically, we impose a slack variable to the proposed control framework when upcoming traffic information is available, so that the vehicle can pass the traffic signal at the yellow light phase. By relaxing state constraints, the test results in this paper show a reduction in trip time and fuel consumption.
KW - Connected and automated vehicle
KW - Deviant behavior
KW - Model predictive control
KW - Signal phase and timing
KW - Social norm
UR - http://www.scopus.com/inward/record.url?scp=85148028351&partnerID=8YFLogxK
U2 - 10.7467/KSAE.2023.31.1.001
DO - 10.7467/KSAE.2023.31.1.001
M3 - Article
AN - SCOPUS:85148028351
SN - 1225-6382
VL - 31
SP - 1
EP - 9
JO - Transactions of the Korean Society of Automotive Engineers
JF - Transactions of the Korean Society of Automotive Engineers
IS - 1
ER -