On Curve Negotiation: From Driver Support to Automation

This paper describes a curve negotiation 'behavior' that can be used-within subsumption architectures-to produce artificial agents with the ability to negotiate curves in a humanlike way. This may be used to implement functions spanning different levels of automation, from assistance (curve warning) to automated (curve speed control). This paper gives the following: 1) a summary of related works and of the subsumption architecture conceptual framework; 2) a detailed description of the function within this framework; 3) experimental data for validation and tuning derived from user tests; 4) guidelines on integration of the function within advanced driver assistance systems with different automation levels, with examples; and 5) a comparison with experimental data of the human curve speed choice models in the state of the art.