Abstract
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 language | English |
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Title of host publication | Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 3860-3867 |
ISBN (Electronic) | 978-1-7281-8526-2 |
DOIs | |
Publication status | Published - 2020 |
Event | 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada Duration: 11 Oct 2020 → 14 Oct 2020 |
Publication series
Name | Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics |
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Volume | 2020-October |
ISSN (Print) | 1062-922X |
Conference
Conference | 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 |
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Country/Territory | Canada |
City | Toronto |
Period | 11/10/20 → 14/10/20 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise 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.
Keywords
- automated driving
- lane change
- multi-lane driving
- planning
- SuperHuman
- traffic lights
- urban driving
- validation