Personalized Vehicle Path Following Based on Robust Gain-scheduling Control in Lane-changing and Left-turning Maneuvers

摘要

Riding comfort significantly affects the acceptance of automated driving systems. Vehicle performance should align with drivers' preference to ensure the trust and usage of the automated driving functions. The challenge lies in matching individual humans' driving behaviors that vary from one driver to another. A personalized path-following control method is proposed in this paper to track the expected paths of an individual driver. The personalized path is generated via waypoints that are obtained from historical driving data of the respective driver. Then, a robust path-following controller is designed to track the personalized path. The