HV following AV experiment

Shirui Zhou
2025/06/07
Traffic Experiment

Introduction

The HV following AV experiment was conducted out on 10 July 2023, on a 1.5 km straight road at the Traffic Test Site of the Ministry of Transport, China. High-precision global navigation systems were installed in the vehicles to record locations and velocities every 0.1 s. The systems with a maximum mean velocity error of 0.0216 km/h and minimum of 0.0085 km/h, and a maximum mean spacing error of 0.3472 m and minimum of 0.0073 m. Two GPS units were placed in each car to prevent data loss. The experiment involved an autonomous vehicle (AV) and a human driven vehicle (HV). Initially the two vehicles stopped bumper to bumper, since the leading vehicle is an AV, it can follow a consistent trajectory throughout different runs, and the HV followed the AV. 11 drivers were recruited to drive the HV, and each driver performed 12 runs under the same conditions.

References:

Zhou Shirui, Zheng Shiteng, Xu Tu, Treiber Martin, Tian Junfang*, Jiang Rui*, 2025. On the calibration of stochastic car following models. Transportation Research Part B, 196, 103224.

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