On Traffic Situation Predictions for Automated Driving of Long Vehicle Combinations
Licentiatavhandling, 2015

The introduction of longer vehicle combinations for road transports than are currently allowed is an important viable option for achieving the environmental goals on transported goods in Sweden and Europe by the year 2030. This thesis addresses how driver assistance functionality for high-speed manoeuvring can be designed and realized for prospective long vehicle combinations. The main focus is the derivation and usage of traffic situation predictions in order to provide driver support functionalities with a high driver acceptance. The traffic situation predictions are of a tactical character and include a time horizon of up to 10 s. Data collection of manual and automated driving with an A-double combination was carried out in a moving-base driving simulator. The driving scenario was comprised of a relatively curvy and hilly single-lane Swedish county road (180). The driving trajectories were analysed and complemented with results from optimization. Based on observations of utilized accelerations it was proposed that the combined steering and braking should prioritize a smooth and comfortable driving experience. It was hypothesized that high driver acceptance of driver assistance functionality including automated steering and propulsion/braking, can be realized by utilizing driver models inspired by human cognition as an integrated part in the generation of traffic situation predictions. A longitudinal and lateral driver model based on optic information was proposed for lane-change manoeuvring. The driver model was implemented in a real-time framework for automated driving of an A-double combination on a multiple lane one-way road. Simulations showed that the framework gave reasonable results for maintain lane and lane change manoeuvres at constant and varying longitudinal velocities.

braking

steering

heavy trucks

automated driving

long vehicle combination

active safety

vehicle dynamics

prediction

driver behaviour

Virtual Development Laboratory, Hörsalsvägen 7A
Opponent: Associate Professor Anders Grauers, Department of Signals and Systems, Chalmers University of Technology, Sweden.

Författare

Peter Nilsson

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

A Driver Model Using Optic Information for Longitudinal and Lateral Control of a Long Vehicle Combination

IEEE 17th International Conference on Intelligent Transportation Systems (ITSC), October 8-11, 2014. Qingdao, China,; (2014)p. 1456-1461

Paper i proceeding

Drivers' assessment of driving a 32 meter A-double with and without full automation in a moving simulator base simulator

13th International Heavy Vehicle Transport Technology Symposium, San Luis, Argentina,; (2014)

Paper i proceeding

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Technical report - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden

Virtual Development Laboratory, Hörsalsvägen 7A

Opponent: Associate Professor Anders Grauers, Department of Signals and Systems, Chalmers University of Technology, Sweden.