Validating SuperHuman Automated Driving Performance

Zlatan Ajanovic, Matthijs Klomp, Bakir Lacevic, Barys Shyrokau, Paolo Pretto, Hassaan Islam, Georg Stettinger, Martin Horn

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

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Closed-loop validation of autonomous vehicles is an open problem, significantly influencing development and adoption of this technology. The main contribution of this paper is a novel approach to reproducible, scenario-based validation that decouples the problem into several sub-problems, while avoiding to brake the crucial couplings. First, a realistic scenario is generated from the real urban traffic. Second, human participants, drive in a virtual scenario (in a driving simulator), based on the real traffic. Third, human and automated driving trajectories are reproduced and compared in the real vehicle on an empty track without traffic. Thus, benefits of automation with respect to safety, efficiency and comfort can be clearly benchmarked in a reproducible manner. Presented approach is used to benchmark performance of SBOMP planner in one scenario and validate SuperHuman driving performance.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-7281-8526-2
Publication statusPublished - 2020
Event2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada
Duration: 11 Oct 202014 Oct 2020


Conference2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020

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.


  • automated driving
  • lane change
  • multi-lane driving
  • planning
  • SuperHuman
  • traffic lights
  • urban driving
  • validation


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