Optimal merging into a high-speed lane dedicated to connected autonomous vehicles

2020 ◽  
Vol 555 ◽  
pp. 124743 ◽  
Author(s):  
L.C. Davis
Keyword(s):  
Autonomous Vehicles ◽  
High Speed

scholarly journals Prototype Design and Experimental Evaluation of Autonomous Collaborative Communication System for Emerging Maritime Use Cases

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3871
Author(s):  
Jiri Pokorny ◽  
Khanh Ma ◽  
Salwa Saafi ◽  
Jakub Frolka ◽  
Jose Villa ◽  
...  
Keyword(s):  
Communication System ◽  
Autonomous Vehicles ◽  
High Speed ◽  
High Capacity ◽  
Workplace Safety ◽  
Unmanned Vehicles ◽  
Use Cases ◽  
Automated Systems ◽  
Collaborative Communication ◽  
Wide Range

Automated systems have been seamlessly integrated into several industries as part of their industrial automation processes. Employing automated systems, such as autonomous vehicles, allows industries to increase productivity, benefit from a wide range of technologies and capabilities, and improve workplace safety. So far, most of the existing systems consider utilizing one type of autonomous vehicle. In this work, we propose a collaboration of different types of unmanned vehicles in maritime offshore scenarios. Providing high capacity, extended coverage, and better quality of services, autonomous collaborative systems can enable emerging maritime use cases, such as remote monitoring and navigation assistance. Motivated by these potential benefits, we propose the deployment of an Unmanned Surface Vehicle (USV) and an Unmanned Aerial Vehicle (UAV) in an autonomous collaborative communication system. Specifically, we design high-speed, directional communication links between a terrestrial control station and the two unmanned vehicles. Using measurement and simulation results, we evaluate the performance of the designed links in different communication scenarios and we show the benefits of employing multiple autonomous vehicles in the proposed communication system.

Testing driver skill for high-speed autonomous vehicles

Computer ◽  
2006 ◽  
Vol 39 (12) ◽  
pp. 48-51 ◽  
Author(s):  
C. Urmson ◽  
W. Whittaker ◽  
S. Harbaugh ◽  
M. Clark ◽  
P. Koon
Keyword(s):  
Autonomous Vehicles ◽  
High Speed ◽  
Driver Skill

scholarly journals On Ultra-Reliable Low Latency Multipath TCP For Connected Autonomous Vehicles

2021 ◽  
Author(s):  
Shiva Raj Pokhrel ◽  
Neeraj Kumar ◽  
Anwar Walid
Keyword(s):  
Autonomous Vehicles ◽  
High Speed ◽  
Data Communication ◽  
Low Latency ◽  
Data Traffic ◽  
Mathematical Study ◽  
Multipath Tcp ◽  
Multiple Network ◽  
Very High ◽  
Delay Variation

Connected Autonomous Vehicles (CAVs) are Not-So-Futuristic. CAVs will be highly dynamic by intelligently exploiting multipath communication over several radio technologies, such as high-speed WiFi and 5G and beyond networks. Yet, the likelihood of data communication loss can be very high and/, or packets arrive at the destination not in correct working order due to erratic and mixed time-varying wireless links. Furthermore, the vehicular data traffic is susceptible to loss and delay variation,which recommends the need to investigate new multipath TCP(MPTCP) protocols for ultra-reliable low latency communication(URLLC) over such heterogeneous networks while reassuring CAVs’ needs. We undertake the challenge by jointly considering network coding and balanced linked adaptation for performing coupled congestion control across multiple wireless paths.Consequently, the proposed low delay MPTCP framework for connecting autonomous vehicles is efficient and intelligent by design. We conduct a rigorous convergence analysis of the MPTCP design framework. In summation, we provide a detailed mathematical study and demonstrate that the latency penalty for the URLLC-MPTCP developed over these networks becomes negligible when considering the possible benefits that multiple network convergence could offer. Our extensive emulation results demonstrate all these lucrative features of URLLC-MPTCP.

scholarly journals Platooning of Autonomous Public Transport Vehicles: The Influence of Ride Comfort on Travel Delay

2019 ◽  
Vol 11 (19) ◽  
pp. 5237 ◽  
Author(s):  
Teron Nguyen ◽  
Meng Xie ◽  
Xiaodong Liu ◽  
Nimal Arunachalam ◽  
Andreas Rau ◽  
...  
Keyword(s):  
Travel Time ◽  
Public Transport ◽  
Autonomous Vehicles ◽  
High Speed ◽  
Ride Comfort ◽  
Light Rail ◽  
Vehicle Speed ◽  
System Delay ◽  
Urban Context ◽  
Travel Delay

The development of advanced technologies has led to the emergence of autonomous vehicles. Herein, autonomous public transport (APT) systems equipped with prioritization measures are being designed to operate at ever faster speeds compared to conventional buses. Innovative APT systems are configured to accommodate prevailing passenger demand for peak as well as non-peak periods, by electronic coupling and decoupling of platooned units along travel corridors, such as the dynamic autonomous road transit (DART) system being researched in Singapore. However, there is always the trade-off between high vehicle speed versus passenger ride comfort, especially lateral ride comfort. This study analyses a new APT system within the urban context and evaluates its performance using microscopic traffic simulation. The platooning protocol of autonomous vehicles was first developed for simulating the coupling/decoupling process. Platooning performance was then simulated on VISSIM platform for various scenarios to compare the performance of DART platooning under several ride comfort levels: three bus comfort and two railway criteria. The study revealed that it is feasible to operate the DART system following the bus standing comfort criterion (ay = 1.5 m/s2) without any significant impact on system travel time. For the DART system operating to maintain a ride comfort of the high-speed train (HST) and light rail transit (LRT), the delay can constitute up to ≈ 10% and ≈ 5% of travel time, respectively. This investigation is crucial for the system delay management towards precisely designed service frequency and improved passenger ride comfort.

Emergency obstacle avoidance trajectory tracking control based on active disturbance rejection for autonomous vehicles

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092110
Author(s):  
Runqiao Liu ◽  
Minxiang Wei ◽  
Nan Sang
Keyword(s):  
Obstacle Avoidance ◽  
Disturbance Rejection ◽  
Autonomous Vehicles ◽  
High Speed ◽  
Autonomous Vehicle ◽  
Angular Frequency ◽  
Vehicle Speed ◽  
Feed Forward ◽  
Yaw Rate ◽  
Active Disturbance Rejection

To solve the problem of understeer and oversteer for autonomous vehicle under high-speed emergency obstacle avoidance conditions, considering the effect of steering angular frequency and vehicle speed on yaw rate for four-wheel steering vehicles in the frequency domain, a feed-forward controller for four-wheel steering autonomous vehicles that tracks the desired yaw rate is proposed. Furthermore, the steering sensitivity coefficient of the vehicle is compensated linearly with the change in the steering angular frequency and vehicle speed. In addition, to minimize the tracking errors caused by vehicle nonlinearity and external disturbances, an active disturbance rejection control feedback controller that tracks the desired lateral displacement and desired yaw angle is designed. Finally, CarSim® obstacle avoidance simulation results show that an autonomous vehicle with the four-wheel steering path tracking controller consisting of feed-forward control and feedback control could not only improve the tire lateral forces but also reduce tail flicking (oversteer) and pushing ahead (understeer) under high-speed emergency obstacle avoidance conditions.

scholarly journals PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Zhigang Xu ◽  
Mingliang Wang ◽  
Fengzhi Zhang ◽  
Sheng Jin ◽  
Jin Zhang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Vehicles ◽  
Tracking Control ◽  
High Speed ◽  
Control Function ◽  
Autonomous Vehicle ◽  
Test Method ◽  
Hardware In The Loop ◽  
Positioning Device ◽  
Harsh Conditions

With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL) scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.

scholarly journals Design of the Airbag Inflation System Applicable to Conventional and Autonomous Vehicles

2021 ◽  
Author(s):  
Nina F. Yurchenko ◽  
David S. Breed ◽  
Shaowei Zhang
Keyword(s):  
Autonomous Vehicles ◽  
High Speed ◽  
Video Recording ◽  
Problem Formulation ◽  
Experimental Models ◽  
Gas Generator ◽  
Operational Effectiveness ◽  
Entrainment Ratio ◽  
Pressure Fields ◽  
Passive Safety System

AbstractThe emergency transformation of various aspects of life and business these days requires prompt evaluation of autonomous vehicles. One of the primary reassessments deals with the applicability of the vehicle passive safety system to the protection of arbitrarily positioned passengers. To mitigate possible risks caused by the simultaneous deployment of several big airbags, a new principle of their operation is required. Herein, the aspirated inflator for a driver airbag is developed that can provide 50L-airbag inflation within 30–40 ms. As a result, about 3/4 of the air is to be entrained into an airbag from the vehicle compartment. The process is initiated by a supersonic pulse jet (1/3 air volume) generated pyrotechnically. Then the Prandtl–Meyer problem formulation enables guiding linear and angular dimensions of the essential parts of the device. Accordingly, a family of experimental models of varied geometry is fabricated and tested to determine their operational effectiveness in a range of motive pressure within ~ 3–7 MPa. Experiments are performed on a specially designed facility equipped with compressed-air tanks and a high-speed valve to mimic the inflator operation with the pyrotechnic gas generator. The aspirated inflator operability is characterized using multivariate measurements of pressure fields, high-speed video-recording of the airbag inflation process, and evaluation of aspiration (entrainment) ratio. The average volume aspiration ratio measured at 300 K is found to reach 2.8 and it’s expected to almost double at 1200 K.

scholarly journals Ultrafast Parallel LiDAR with Time-encoding and Spectral Scanning: Breaking the Time-of-flight Limit

2021 ◽  
Author(s):  
Zihan Zang ◽  
Zhi Li ◽  
Yi Luo ◽  
Yan-Jun Han ◽  
Xuanyi Liu ◽  
...  
Keyword(s):  
Wavelength Division Multiplexing ◽  
Autonomous Vehicles ◽  
High Speed ◽  
Large Scale ◽  
Beam Steering ◽  
Time Of Flight ◽  
Frame Rate ◽  
Detection Range ◽  
Time Encoding ◽  
Scanning Lidar

Abstract Light detection and ranging (LiDAR) has been widely used in autonomous driving and large-scale manufacturing. Although state-of-the-art scanning LiDAR can perform long-range three-dimensional imaging, the frame rate is limited by both round-trip delay and the beam steering speed, hindering the development of high-speed autonomous vehicles. For hundred-meter level ranging applications, a several-time speedup is highly desirable. Here, we uniquely combine fiber-based encoders with wavelength-division multiplexing devices to implement all-optical time-encoding on the illumination light. Using this method, parallel detection and fast inertia-free spectral scanning can be achieved simultaneously with single-pixel detection. As a result, the frame rate of a scanning LiDAR can be multiplied with scalability. We demonstrate a 4.4-fold speedup for a maximum 75-m detection range, compared with a time-of-flight-limited laser ranging system. This approach has the potential to improve the velocity of LiDAR-based autonomous vehicles to the regime of hundred kilometers per hour and open up a new paradigm for ultrafast-frame-rate LiDAR imaging.

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