An autonomous driving control system that incorporates notions from human-like social driving could facilitate an efficient integration of hybrid traffic where fully autonomous vehicles (AVs) and human operated vehicles (HOVs) are expected to coexist. This paper aims to develop such an autonomous vehicle control model using the social-force concepts, which was originally formulated for modeling the motion of pedestrians in crowds. In this paper, the social force concept is adapted to vehicular traffic where constituent navigation forces are defined as a target force, object forces, and lane forces. Then, nonlinear model predictive control (NMPC) scheme is formulated to mimic the predictive planning behavior of social human drivers where they are considered to optimize the total social force they perceive. The performance of the proposed social force-based autonomous driving control scheme is demonstrated via simulations of an ego-vehicle in multi-lane road scenarios. From adaptive cruise control (ACC) to smooth lane-changing behaviors, the proposed model provided a flexible yet efficient driving control enabling a safe navigation in various situations while maintaining reasonable vehicle dynamics.
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ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5178-4
PROCEEDINGS PAPER
Social Force Control for Human-Like Autonomous Driving
DoHyun Daniel Yoon,
DoHyun Daniel Yoon
Clemson University International Center of Automotive Research, Greenville, SC
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Beshah Ayalew
Beshah Ayalew
Clemson University International Center of Automotive Research, Greenville, SC
Search for other works by this author on:
DoHyun Daniel Yoon
Clemson University International Center of Automotive Research, Greenville, SC
Beshah Ayalew
Clemson University International Center of Automotive Research, Greenville, SC
Paper No:
DETC2018-86288, V003T01A003; 8 pages
Published Online:
November 2, 2018
Citation
Yoon, DD, & Ayalew, B. "Social Force Control for Human-Like Autonomous Driving." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 20th International Conference on Advanced Vehicle Technologies; 15th International Conference on Design Education. Quebec City, Quebec, Canada. August 26–29, 2018. V003T01A003. ASME. https://doi.org/10.1115/DETC2018-86288
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