Cross-Scenario Controller Parameter Transformation from Real-World Driving Data through Flow Matching

Abstract

Advanced Driver Assistance Systems have become increasingly widespread, aiming to support drivers, reduce workload, and improve traffic safety. However, many systems are rarely used because their behavior feels unnatural and does not match individual driving behavior. The growing availability of large-scale, real-world human driving data enables more human-like and driver-individual assistance functions. This paper formulates the adaptation of Adaptive Cruise Control parameters as a driver-individual scenario-to-scenario transport problem, transforming controller parameters from one driving context to another. Using flow matching, we train a generative model to predict the target-scenario behavior of previously unseen drivers from only a few demonstrations in a source scenario. We compare the approach with a linear parameter-shift baseline and evaluate flow-matching variants incorporating driver-consistent coupling, driver embeddings, and classifier-free guidance based on driving profiles extracted from trajectory data using a variational autoencoder.