Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather

Table 3

Hierarchical scoring reference with relative velocity of 30 m/s.

Hierarchy	Performance	Driving mode steering frequency (Hz)/brake deceleration (m/s^2)	Maximum acceleration, a(t)max (m/s^2)	Minimum safe headway, Smin (m)	Evaluation parameter	Score
1	Overall	—	—	—	—	s1 = s2 × (i × s3 + j × s4)
2	Safety	—	≤aYmax	ΔL ≥ Smin	Δ: difference between headway and minimum safe headway	s2 = 1 (Δ > 0)
						s2 = 0 (Δ ≤ 0)
3	Comfort	0.1/0	1.5973	192.5480	Maximum acceleration	s3 = 10
		0.2/0	2.0718	117.2420		s3 = 9
		0.1/2	2.5900	146.2759		s3 = 8
		0.3/0	2.7085	90.8600		s3 = 7
		0.2/2	2.9122	102.3528		s3 = 6
		0.4/0	3.3707	77.3690		s3 = 5
		0.3/2	3.3839	83.1736		s3 = 4
		0.4/2	3.9806	72.1616		s3 = 3
		0.5/0	4.2781	68.8610		s3 = 2
		0.5/2	4.8007	65.1585		s3 = 1
4	Efficiency	0.5/2	4.8007	65.1585	Minimum safe headway	s4 = 10
		0.5/0	4.2781	68.8610		s4 = 9
		0.4/2	3.9806	72.1616		s4 = 8
		0.4/0	3.3707	77.3690		s4 = 7
		0.3/2	3.3839	83.1736		s4 = 6
		0.3/0	2.7085	90.8600		s4 = 5
		0.2/2	2.9122	102.3528		s4 = 4
		0.2/0	2.0718	117.2420		s4 = 3
		0.1/2	2.5900	146.2759		s4 = 2
		0.1/0	1.5973	192.5480		s4 = 1