Developing a simulation framework for safe and optimal trajectories considering drivers’ driving style

Abstract

Advanced Driving Assistance Systems (ADAS) have huge potential for improving road safety and travel times. However, their take-up in the market is very slow; and these systems should consider driver’s preferences to increase adoption rates. The aim of this paper is to develop a model providing drivers with the optimal trajectory considering the motorist’s driving style in real time. Travel duration and safety are the main parameters used to find the optimal trajectory. A simulation framework to determine the optimal trajectory was developed in which the ego car travels in a highway environment scenario, using an agent-oriented approach. The performance of the algorithm was compared against optimal trajectories computed offline with the hybrid A* algorithm. The new framework provides trajectories close to the optimal trajectory and is computationally achievable. The agents were shown to follow safe and fast trajectories in three tests scenarios: emergency braking, overtaking, and a complex situation with multiple vehicles around the ego vehicle. Different driver profiles were then tested in the complex scenario, showing that the proposed approach can adapt to driver preferences and provide a solution close to the optimal solution given the defined safety constraints.