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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2412.12197 |
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| _version_ | 1866914446877655040 |
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| author | Hu, Jia Lian, Zhexi Wang, Haoran Zhang, Zihan Qian, Ruoxi Li, Duo Jaehyun So Zheng, Junnian |
| author_facet | Hu, Jia Lian, Zhexi Wang, Haoran Zhang, Zihan Qian, Ruoxi Li, Duo Jaehyun So Zheng, Junnian |
| contents | Adaptive Cruise Control (ACC) systems have been widely commercialized in recent years. However, existing ACC systems remain vulnerable to close-range cut-ins, a behavior that resembles "road bullying". To address this issue, this research proposes an Anti-bullying Adaptive Cruise Control (AACC) approach, which is capable of proactively protecting right-of-way against such "road bullying" cut-ins. To handle diverse "road bullying" cut-in scenarios smoothly, the proposed approach first leverages an online Inverse Optimal Control (IOC) based algorithm for individual driving style identification. Then, based on Stackelberg competition, a game-theoretic-based motion planning framework is presented in which the identified individual driving styles are utilized to formulate cut-in vehicles' reaction functions. By integrating such reaction functions into the ego vehicle's motion planning, the ego vehicle could consider cut-in vehicles' all possible reactions to find its optimal right-of-way protection maneuver. To the best of our knowledge, this research is the first to model vehicles' interaction dynamics and develop an interactive planner that adapts cut-in vehicle's various driving styles. Simulation results show that the proposed approach can prevent "road bullying" cut-ins and be adaptive to different cut-in vehicles' driving styles. It can improve safety and comfort by up to 79.8% and 20.4%. The driving efficiency has benefits by up to 19.33% in traffic flow. The proposed approach can also adopt more flexible driving strategies. Furthermore, the proposed approach can support real-time field implementation by ensuring less than 50 milliseconds computation time. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_12197 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Anti-bullying Adaptive Cruise Control: A proactive right-of-way protection approach Hu, Jia Lian, Zhexi Wang, Haoran Zhang, Zihan Qian, Ruoxi Li, Duo Jaehyun So Zheng, Junnian Systems and Control Robotics Adaptive Cruise Control (ACC) systems have been widely commercialized in recent years. However, existing ACC systems remain vulnerable to close-range cut-ins, a behavior that resembles "road bullying". To address this issue, this research proposes an Anti-bullying Adaptive Cruise Control (AACC) approach, which is capable of proactively protecting right-of-way against such "road bullying" cut-ins. To handle diverse "road bullying" cut-in scenarios smoothly, the proposed approach first leverages an online Inverse Optimal Control (IOC) based algorithm for individual driving style identification. Then, based on Stackelberg competition, a game-theoretic-based motion planning framework is presented in which the identified individual driving styles are utilized to formulate cut-in vehicles' reaction functions. By integrating such reaction functions into the ego vehicle's motion planning, the ego vehicle could consider cut-in vehicles' all possible reactions to find its optimal right-of-way protection maneuver. To the best of our knowledge, this research is the first to model vehicles' interaction dynamics and develop an interactive planner that adapts cut-in vehicle's various driving styles. Simulation results show that the proposed approach can prevent "road bullying" cut-ins and be adaptive to different cut-in vehicles' driving styles. It can improve safety and comfort by up to 79.8% and 20.4%. The driving efficiency has benefits by up to 19.33% in traffic flow. The proposed approach can also adopt more flexible driving strategies. Furthermore, the proposed approach can support real-time field implementation by ensuring less than 50 milliseconds computation time. |
| title | Anti-bullying Adaptive Cruise Control: A proactive right-of-way protection approach |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2412.12197 |