An approach of human driving behavior correction based on Dynamic Window Approach

Yue Kang (1) , Danilo Alves de Lima (1) , Alessandro Corrêa Victorino (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper presents the approach of an applicable safety driving methodology for human drivers based on Dynamic Window Approach (DWA), as an implementation of Advanced Driving Assist Systems (ADASs). The human driving behaviors are modelled for the design of controller, refined by referential paths using evasive trajectory model, and the linear and angular velocities are limited and corrected by DWA which performed as an obstacle avoidance strategy. Results of trajectory following and obstacle avoidance are compared with the visual servoing (VS) controller as a corresponding approach of autonomous control pattern.

Mots clés: Dynamic Window Approach; ADAS; Human Driving Behavior; Driving Safety

Domaines: Robotique [cs.RO]; Systèmes et contrôle [cs.SY]

Yue Kang, Danilo Alves de Lima, Alessandro Corrêa Victorino. An approach of human driving behavior correction based on Dynamic Window Approach. IEEE Intelligent Vehicles Symposium (IV 2014), Jun 2014, Dearborn, Michigan, United States. pp.304 - 309, ⟨10.1109/IVS.2014.6856543⟩. ⟨hal-01120337⟩