2020/01/12 by Il Bae, Jaeyoung Moon, Bae, Il +16 · 3 citations
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #Traffic control and management #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2001.03908
openalex publication_date 2020/01/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose an Occupant's Preference Metric (OPM) which is defining a preferred lateral and longitudinal acceleration region with maximum allowable jerk for users. Moreover, we propose a vehicle controller based on control parameters enabling integrated lateral and longitudinal control via preference-aware maneuvering of autonomous vehicles. The proposed system not only provides the criteria for the occupant's driving preference, but also provides a personalized autonomous self-driving style like a human driver instead of a Robocar. The simulation and experimental results demonstrated that the proposed system can maneuver the self-driving vehicle like a human driver by tracking the specified criterion of admissible acceleration and jerk.