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.
翻译:本文根据个人驾驶偏好,发布自驾驶自驾驶车辆的综合控制系统,为自驾驶车辆使用者提供个性化舒适驾驶经验。我们提议由驾驶员的偏好驾驶仪(OPM)来界定一个首选的横向和纵向加速区,为使用者规定最大允许的手枪;此外,我们提议基于控制参数的车辆控制器,以便通过自驾驶车辆的偏好机动,实现横向和纵向综合控制。拟议的系统不仅为驾驶员的驾驶偏好提供了标准,而且还提供了个性化的自驾驶自驾驶风格,如人驾驶员而不是机械车。模拟和实验结果表明,拟议的系统可以像人驾驶员一样操纵自驾驶车辆,跟踪可接受加速和自驾驶的具体标准。