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Speed Profile Optimization for Enhanced Passenger Comfort: An Optimal Control Approach

Communication avec acte
Auteur
ccWANG, Yuyang
ccMERIENNE, Frédéric
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
ccCHARDONNET, Jean-Rémy

URI
http://hdl.handle.net/10985/14236
DOI
10.1109/itsc.2018.8569420
Date
2018

Résumé

Autonomous vehicles are expected to start reaching the market within the next years. However in practical applications, navigation inside dynamic environments has to take many factors such as speed control, safety and comfort into consideration, which is more paramount for both passengers and pedestrians. In this paper, a novel speed profile planner based on an optimal control approach considering passenger comfort is proposed. The approach is accomplished by minimizing jerk under certain comfort constraints, which inherently gives a speed profile for the central nervous system to follow naturally. Imposed with the same conditions, the widely used Jerk Limitation method is interpreted as an equivalent of the minimum time control method, the latter being used to verify that our method can ensure better continuity and smoothness of the speed profiles. A validation test was specifically designed and performed in order to show the feasibility of our method.

Fichier(s) constituant cette publication

Nom:
LISPEN_ITSC_2018_WANG.pdf
Taille:
2.619Mo
Format:
PDF
Fin d'embargo:
2019-05-04
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  • Laboratoire d’Ingénierie des Systèmes Physiques Et Numériques (LISPEN)

Documents liés

Visualiser des documents liés par titre, auteur, créateur et sujet.

  • Using Fuzzy Logic to Involve Individual Differences for Predicting Cybersickness during VR Navigation 
    Communication avec acte
    ccWANG, Yuyang; OVTCHAROVA, Jivka; ccMERIENNE, Frédéric; ccCHARDONNET, Jean-Rémy (IEEE, 2021)
    Many studies have explored how individual differences can affect users’ susceptibility to cybersickness in a VR application. However, the lack of strategy to integrate the influence of each factor on cybersickness makes ...
  • Development of a speed protector to optimize user experience in 3D virtual environments 
    Article dans une revue avec comité de lecture
    ccWANG, Yuyang; ccMERIENNE, Frédéric; ccCHARDONNET, Jean-Rémy (Elsevier, 2021)
    Virtual walking in virtual environments (VEs) requires locomotion interfaces, especially when the available physical environment is smaller than the virtual space due to virtual reality facilities limitations; many navigation ...
  • VR Sickness Prediction for Navigation in Immersive Virtual Environments using a Deep Long Short Term Memory Model 
    Communication avec acte
    ccWANG, Yuyang; ccMERIENNE, Frédéric; ccCHARDONNET, Jean-Rémy (IEEE, 2019)
    This paper proposes a new objective metric of visually induced motion sickness (VIMS) in the context of navigation in virtual environments (VEs). Similar to motion sickness in physical environments, VIMS can induce many ...
  • A Semiautomatic Navigation Interface to Reduce Visually Induced Motion Sickness in Virtual Reality 
    Communication avec acte
    ccWANG, Yuyang; ccMERIENNE, Frédéric; ccCHARDONNET, Jean-Rémy (2018)
    Navigation in a real environment is a common task that human beings conduct easily and subconsciously. However transposing this task in virtual environments (VEs) remains challenging due to input devices and techniques ...
  • Design of a Semiautomatic Travel Technique in VR Environments 
    Communication avec acte
    ccWANG, Yuyang; ccMERIENNE, Frédéric; ccCHARDONNET, Jean-Rémy (IEEE, 2019)
    Travel in a real environment is a common task that human beings conduct easily and subconsciously. However transposing this task in virtual environments (VEs) remains challenging due to input devices and techniques. ...

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