Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers
Abstract Preventing traffic accidents is of paramount importance for society's well‐being. The topic is particularly relevant for driving automation given the high expectations about automated vehicles and the difficulty in estimating reliable safety figures for those complex systems. Under thi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-09-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12374 |
| _version_ | 1797680754416680960 |
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| author | Riccardo Donà Konstantinos Mattas Biagio Ciuffo |
| author_facet | Riccardo Donà Konstantinos Mattas Biagio Ciuffo |
| author_sort | Riccardo Donà |
| collection | DOAJ |
| description | Abstract Preventing traffic accidents is of paramount importance for society's well‐being. The topic is particularly relevant for driving automation given the high expectations about automated vehicles and the difficulty in estimating reliable safety figures for those complex systems. Under this premise, the present manuscript investigates how to derive a safety benchmark model for evasive lane‐change maneuvers that can also be applied in microsimulation frameworks. The approach leverages a jerk‐limited bang‐bang kinematic model for lane‐change and validates its minimum time prediction against other kinematic approaches and vehicle dynamical models based on a robust minimum‐time optimal control formulation. It is shown how kinematic modeling does not embrace steering angle constraints (at low‐speed) and misses the inertia effect (at high‐speed) thus introducing discrepancies. However, due to the introduction of a braking model, it can be safely claimed that the low‐speed discrepancy between the kinematic and the dynamic models lies in a region where stopping is still the most efficient reaction. Moreover, a method is shown to compute the effective lateral acceleration for a kinematic model to match the dynamical system's maneuvering. The kinematic lane‐change model can thus constitute a valid performance benchmark provided that conservative assumptions are used when calibrating its maximum lateral acceleration. |
| first_indexed | 2024-03-11T23:34:42Z |
| format | Article |
| id | doaj.art-4e2e415b851f49bbb0f9703446253a1e |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-03-11T23:34:42Z |
| publishDate | 2023-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-4e2e415b851f49bbb0f9703446253a1e2023-09-20T04:44:26ZengWileyIET Intelligent Transport Systems1751-956X1751-95782023-09-011791784179810.1049/itr2.12374Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuversRiccardo Donà0Konstantinos Mattas1Biagio Ciuffo2Joint Research Centre for the European Commission Ispra (VA) ItalyJoint Research Centre for the European Commission Ispra (VA) ItalyJoint Research Centre for the European Commission Ispra (VA) ItalyAbstract Preventing traffic accidents is of paramount importance for society's well‐being. The topic is particularly relevant for driving automation given the high expectations about automated vehicles and the difficulty in estimating reliable safety figures for those complex systems. Under this premise, the present manuscript investigates how to derive a safety benchmark model for evasive lane‐change maneuvers that can also be applied in microsimulation frameworks. The approach leverages a jerk‐limited bang‐bang kinematic model for lane‐change and validates its minimum time prediction against other kinematic approaches and vehicle dynamical models based on a robust minimum‐time optimal control formulation. It is shown how kinematic modeling does not embrace steering angle constraints (at low‐speed) and misses the inertia effect (at high‐speed) thus introducing discrepancies. However, due to the introduction of a braking model, it can be safely claimed that the low‐speed discrepancy between the kinematic and the dynamic models lies in a region where stopping is still the most efficient reaction. Moreover, a method is shown to compute the effective lateral acceleration for a kinematic model to match the dynamical system's maneuvering. The kinematic lane‐change model can thus constitute a valid performance benchmark provided that conservative assumptions are used when calibrating its maximum lateral acceleration.https://doi.org/10.1049/itr2.12374automated driving & intelligent vehiclesoptimal controltransport modeling and microsimulationvehicle dynamics |
| spellingShingle | Riccardo Donà Konstantinos Mattas Biagio Ciuffo Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers IET Intelligent Transport Systems automated driving & intelligent vehicles optimal control transport modeling and microsimulation vehicle dynamics |
| title | Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers |
| title_full | Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers |
| title_fullStr | Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers |
| title_full_unstemmed | Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers |
| title_short | Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers |
| title_sort | towards bi dimensional driver models for automated driving system safety requirements validation of a kinematic model for evasive lane change maneuvers |
| topic | automated driving & intelligent vehicles optimal control transport modeling and microsimulation vehicle dynamics |
| url | https://doi.org/10.1049/itr2.12374 |
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