A Study on Human-like Deceleration considering Static Objectives for One-pedal Driving of Electric Vehicles

Abstract

One-pedal driving is a user-friendly feature, particularly in electric vehicles, allowing for simple, energy-efficient, comfortable, and safe driving. In this study, we propose a simple and effective method to generate a human-like braking speed profile in the presence of a red traffic light or a stop sign. This human-like braking profile can serve as a reference profile of a human driver at a given initial speed and distance-to-stop. The proposed method is developed based on four-phase braking and vehicle longitudinal dynamics. The method utilizes parameters that describe the braking behavior of individual drivers, such as the braking time for a given initial speed and distance-to-stop, the minimum acceleration, the minimum jerk, and the maximum jerk during the braking. These parameters are identified from real-world driving data. The results show that the proposed method successfully captures a human driver's braking behavior when coming to a full stop without a preceding vehicle. The median RMSEs of the speed profile and median distance errors from all vehicles are 0.0075 m and 0.789m/s on average.