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The Effect of Receding Horizon Pure Pursuit Control on Passenger Comfort in Autonomous Vehicles

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Intelligent Interactive Multimedia Systems and Services 2016

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 55))

Abstract

Passengers in autonomous vehicles are prone to motion sickness. Receding horizon control of pure pursuit tracking algorithms has been shown to improve path tracking performance. In this paper we present a numerical study on the effect of the receding horizon pure pursuit controller on passenger comfort. Three standard cases at the different speeds are utilized to compare the effect of traditional and receding horizon pure pursuit control on passenger comfort. The results show improvements in passenger comfort at higher speeds using receding horizon control and that path continuity is more influential that optimal tracking control.

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Acknowledgments

The first author recognizes the Australian government funding through the Australian Postgraduate Award (APA), Research Training Scheme (RTS) and Higher Degree Research Publication Grant (HDRPG) scholarships.

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Authors and Affiliations

  1. School of Engineering, Bundoora East Campus, RMIT University, Plenty Road, Bundoora, Melbourne, VIC, 3083, Australia

    Mohamed Elbanhawi, Milan Simic & Reza Jazar

Authors
  1. Mohamed Elbanhawi
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  2. Milan Simic
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  3. Reza Jazar
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Corresponding author

Correspondence to Mohamed Elbanhawi .

Editor information

Editors and Affiliations

  1. Institute for High-Perfor Computing Netw, National Research Council of Italy, Naples, Italy

    Giuseppe De Pietro

  2. Institute for High-Perfo Computing Netwo, National Research Council of Italy, Naples, Italy

    Luigi Gallo

  3. KES International, Shoreham-by-sea, United Kingdom

    Robert J. Howlett

  4. University of Canberra, Canberra, South Australia, Australia

    Lakhmi C. Jain

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Elbanhawi, M., Simic, M., Jazar, R. (2016). The Effect of Receding Horizon Pure Pursuit Control on Passenger Comfort in Autonomous Vehicles. In: Pietro, G., Gallo, L., Howlett, R., Jain, L. (eds) Intelligent Interactive Multimedia Systems and Services 2016. Smart Innovation, Systems and Technologies, vol 55. Springer, Cham. https://doi.org/10.1007/978-3-319-39345-2_29

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  • DOI: https://doi.org/10.1007/978-3-319-39345-2_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-39344-5

  • Online ISBN: 978-3-319-39345-2

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