IEEE Robotics & Automation Magazine - September 2011 - 51

Displacement of the Human-Driven Vehicle

16,000
Set B
14,000
12,000
Autonomous Vehicle
10,000

Set B
Current
Position

8,000
6,000
4,000

Capture Set Corresponding to
Mode Estimate {A}

2,000
0

0

Human-Driven
Vehicle
Human-Decision
Point, DP

2,000 4,000 6,000 8,000 10,000 12,000
Displacement of the Autonomous Vehicle

16,000
Set B
14,000
Autonomous
Vehicle

12,000
10,000

Set B

Current
Position

8,000

Human-Driven
Vehicle

6,000
4,000

Capture Set Corresponding to
Mode Estimate {A}

2,000
0
0

2,000 4,000 6,000 8,000 10,000 12,000
Displacement of the Autonomous Vehicle

Human-Decision
Point, DP

(e)
100
Throttle Input/Control Input
in % Pedal Pressed

Displacement of the Human-Driven Vehicle

(d)

Autonomous
Vehicle Control
Input

90
80
70
60
50

Human-Driven
Vehicle Throttle
Input

40
30
20
10
0
820

840

860 880 900 920 940
Time (ds)
(f)

Figure 4. (Continued) With more data, the estimator identifies the mode as acceleration and thus the capture set shrinks (d). The
control input is applied in (b) since the predicted state (denoted by red circles) enters the capture set. The applied control keeps the
two vehicles from entering the bad set as shown in (e). The velocity is shown in (c), and the control input is shown in (f).

SEPTEMBER 2011

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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51



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2011

IEEE Robotics & Automation Magazine - September 2011 - Cover1
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