Autonomous Vehicle Control Design Framework for Performance and Driveability

User preference in shared-controlled systems are as important as user performance. Especially considering autonomous mobility systems, concepts such as comfort or perceived safety play crucial role on the enablement of this technology. In this paper, we propose a validation and control design framework that utilizes quantitative measurements of driveability combined with controller performance. Using AVL-DRIVE™ Autonomous to quantify these subjective metrics, we have shown that it is possible to design controllers for autonomous vehicles that not only focus on the tracking performance but also guarantee high comfort and perceived safety by the user.