Driving behavior correction in human-vehicle interaction 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 with focus on human-vehicle interaction. The approach is based on Dynamic Window Approach (DWA) in cooperation with perception of the obstacles. The human driving behaviors are modelled for the design of controller, refined by referential paths using evasive trajectory model, where 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: Human-Vehicle Interaction; Human Driving Behavior; Driving Safety; Dynamic Window Approach

Domaines: Interface homme-machine [cs.HC]; Systèmes et contrôle [cs.SY]

Yue Kang, Danilo Alves de Lima, Alessandro Corrêa Victorino. Driving behavior correction in human-vehicle interaction based on Dynamic Window Approach. IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems (CYBER 2014), Jun 2014, Hong Kong, China. pp.485 - 490, ⟨10.1109/CYBER.2014.6917512⟩. ⟨hal-01120339⟩