Optimal Control–Based Modeling of Cyclist Behavior

Abstract

Bicycles share similarities with motorised vehicles in that their primarily longitudinal movement is limited by kinematic constraints, but they are more flexible in lateral motion and less restricted by lane discipline. While a few models for cycling were reported in the literature, they mostly explain specific behaviours under disconnected assumptions. A comprehensive cycling behavior model that can simulate primary cyclist behaviors, including lane-keeping, turning, and obstacle avoidance, is still lacking. This paper develops an optimal control-based model to simulate cyclist’s tactical and operational behaviors, assuming cyclist minimizes accumulated costs anticipated in a finite future. This finite future can be in time, e.g. when cycling on a long stretch or in space, e.g. when turning or approaching a red light. The costs considered by cyclists reflect multicriteria of travel efficiency, traffic rules, safety. Numerical experiments are conducted to check the plausibility of the model and the influence of key parameters.