Motion planning is a fundamental component in automated vehicles. It influences the comfort and time efficiency of the ride. Despite a vast collection of studies working towards improving motion comfort in self-driving cars, little attention has been paid to the performance of human drivers as a baseline. In this paper, we present an experimental study conducted on a public road using an instrumented vehicle to investigate how human drivers balance comfort and time efficiency. The human driving data is compared with two optimization-based motion planners that we developed in the past. In situations when there is no difference in travel times, human drivers incurred an average of 23.5% more energy in the longitudinal and lateral acceleration signals than the motion planner that minimizes accelerations. In terms of frequency-weighted acceleration energy, an indicator correlated with the incidence of motion sickness, the average performance deficiency rises to 70.2%. Frequency-domain analysis reveals that human drivers exhibit more longitudinal oscillations in the frequency range of 0.2-1 Hz and more lateral oscillations in the frequency range of up to 0.2 Hz. This is reflected in time-domain data features such as less smooth speed profiles and higher velocities for long turns. The performance difference also partly results from several practical matters and additional factors considered by human drivers when planning and controlling vehicle motion. The driving data collected in this study provides a performance baseline for motion planning algorithms to compare with and can be further exploited to deepen the understanding of human drivers.
翻译:移动规划是自动车辆的一个基本组成部分。 它会影响乘车的舒适和时间效率。 尽管大量研究旨在改进自驾驶汽车运动舒适度,但很少注意作为基线的人类驾驶员的性能。 在本文中,我们提出在公共道路上使用工具车辆进行的实验性研究,以调查人类驾驶员如何平衡舒适和时间效率。人的驾驶数据与我们过去开发的2个基于优化的机动规划人员进行了比较。在旅行时间没有差异的情况下,人类驾驶员在纵向和横向加速信号方面的平均能量增加23.5%,而运动规划员的加速信号则将加速度降低。在频率加权加速能量方面,我们很少注意人的驾驶员的表现。在频率范围为0.2-1赫兹,而频率范围为0.2赫兹的更横向振荡度则比运动加速信号平均增加23.5%。在频率和横向加速信号方面,人们驾驶员的能量平均增加23.5个百分点,例如频率加权加速加速能量,而平均性能不足是70.2%。 频率分析显示,人类驾驶员在0.1赫兹的频率范围上表现出更纵向的振动振动,在频率范围上,这可以进一步反映时间- 数据特征数据特征特征特征特征特征特征特征特征特征特征特征特征特征特征,例如较慢速度图解速度图和速度分析,而驱动力分析为慢的进度分析为慢。