Comfort and Time Efficiency: A Roundabout Case Study

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)
13 Downloads (Pure)


The public acceptance of automated driving is influenced by multiple factors. Apart from safety being of top priority, comfort and time efficiency also have an impact on the popularity of automated vehicles. These two factors contradict each other as optimizing for one results in the degradation of the other. We investigate in this paper how such a multiobjective problem is approached by human drivers and by numerical optimization in the roundabout scenario, which is compact in size but complex to handle. The human drivers' behavior is first observed using naturalistic driving data. The average trajectories and distribution of peak accelerations were extracted after model-based fitting and removal of erroneous samples. The processed data is shared online as an open-access dataset. Then, an optimization problem is formulated and solved to find the numerically optimal motion profile in terms of comfort and time efficiency. The weighted sum of travel time and discomfort is minimized. By adjusting the weight distribution, we present different motion profiles favoring optimal comfort, human-like acceleration magnitudes, and agility, respectively.
Original languageEnglish
Title of host publicationProceedings of the 2021 IEEE International Intelligent Transportation Systems Conference (ITSC)
ISBN (Electronic)978-1-7281-9142-3
ISBN (Print)978-1-7281-9143-0
Publication statusPublished - 2021
EventITSC 2021: 24th IEEE International Intelligent Transportation Systems Conference - Virtual at Indianapolis, United States
Duration: 19 Sep 202122 Sep 2021
Conference number: 24th


ConferenceITSC 2021
Country/TerritoryUnited States
CityVirtual at Indianapolis

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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