Adaptive cruise control considering driver’s characteristics

• Published in: Kikai Gakkai ronbunshū = Transactions of the Japan Society of Mechanical Engineers Vol. 84; no. 868; p. 18-00164
• Main Authors: YOSHIMOTO, Tatsuya, FUKAO, Takanori
• Format: Journal Article
• Language: Japanese
• Published: The Japan Society of Mechanical Engineers 01.11.2018
• Subjects: Adaptive cruise control; Braking control; Driving behavior; Driving support; Longitudinal control; Self-driving
• ISSN: 2187-9761
• DOI: 10.1299/transjsme.18-00164

In general braking control methods of adaptive cruise control, control input is decided based on relative distance and velocity between the preceding vehicle and the ego vehicle at the moment. Such an approach is affected by acceleration/deceleration of the preceding vehicle directly. Therefore, there is a possibility that the response of the ego vehicle becomes oscillatory, and ride comfort gets worse. In this paper, a braking control method based on driver's characteristics is proposed in order to perform adaptive cruise control considering not only safety but also ride comfort. We construct a system with following ways. First, driver's characteristics are extracted from driving data of an expert driver. The following results were obtained: the human braking behavior is divide into three parts, and it does not depend on vehicle velocity of the ego vehicle and the preceding vehicle. Second, the generation method of reference values for braking control is proposed with extracted characteristics. We consider regeneration of reference values when the preceding vehicle accelerates or decelerates during braking of the ego vehicle. Finally, a longitudinal control method is proposed, and the stability of the system is proved. From results of a simulation and an actual vehicle experiment, it was found that our method can reproduce an expert driver's braking behavior.