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.

    Highlights A Gaussian process (GP) based model corrects predictions and estimates uncertainty. An uncertainty-aware controller uses GP models to enhance vehicle interaction safety. The controller is 100× faster than previous methods, ensuring real-time control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Learning-based modeling of human-autonomous vehicle interaction for improved safety in mixed-vehicle platooning control


    Beteiligte:
    Wang, Jie (Autor:in) / Pant, Yash Vardhan (Autor:in) / Jiang, Zhihao (Autor:in)


    Erscheinungsdatum :

    2024-03-26




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Platooning Control Method in Autonomous Vehicle System

    PARK YONGSOO | Europäisches Patentamt | 2019

    Freier Zugriff

    Platooning Control Method in Autonomous Vehicle System

    Europäisches Patentamt | 2021

    Freier Zugriff

    AUTONOMOUS VEHICLE PLATOONING SYSTEM AND METHOD

    HADI ROD / GOLIN MICHAEL A | Europäisches Patentamt | 2020

    Freier Zugriff

    Platooning autonomous vehicle navigation sensory exchange

    Europäisches Patentamt | 2017

    Freier Zugriff

    AUTONOMOUS VEHICLE PLATOONING SYSTEM AND METHOD

    HADI ROD / GOLIN MICHAEL A | Europäisches Patentamt | 2020

    Freier Zugriff