@inproceedings{d4aa081f4a994e23887f8261c688f58a,
title = "Driving Decision-Making Analysis of Car-Following for Autonomous Vehicle Under Complex Urban Environment",
abstract = "Car-following decision-making is critical to complete driving mission for autonomous vehicles under complex and dynamic urban environment. The complex and dynamic information have a great influence on the autonomous vehicle's car-following decision. This paper proposes to use the Rough Set theory to abstract the car-following rules to support the decision-making of autonomous vehicles under the complex and dynamic urban environment. Firstly, a virtual urban traffic environment is built by PreScan (a simulation environment for developing advanced driver assistant system). The vehicle dynamics is simulated using 6-DOF dynamic model and the experimental data were acquiring based on MATLAB/Simulink. Secondly, the Rough Set theory is proposed to reduce the influence of weak interdependency data, and extract the driver's decision rules. Finally, the result is that: the subject car will slow down or break when the relative distance between the subject vehicle and the leading vehicle D is less than 7.7m, drive at a constant speed when D is under 10.2-12.7m, and accelerate when D is beyond 12.7m. It shows that the Rough Set can extract the driver's decision rules from the combining multiple sensors data and related information providing a theoretical basis for the car-following decision-making under complex and dynamic environment.",
keywords = "Prescan, autonomous vehicle, car-following, decision-making, rough set",
author = "Chen, \{Xue Mei\} and Miao, \{Yi Song\}",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 9th International Symposium on Computational Intelligence and Design, ISCID 2016 ; Conference date: 10-12-2016 Through 11-12-2016",
year = "2016",
month = jul,
day = "2",
doi = "10.1109/ISCID.2016.1079",
language = "English",
series = "Proceedings - 2016 9th International Symposium on Computational Intelligence and Design, ISCID 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "315--319",
booktitle = "Proceedings - 2016 9th International Symposium on Computational Intelligence and Design, ISCID 2016",
address = "United States",
}