Human Driver Modeling Based on Analytical Optimal Solutions: Stopping Behaviors at the Intersections

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Jihun Han ◽  
Dominik Karbowski ◽  
Namdoo Kim ◽  
Aymeric Rousseau
Keyword(s):  
Optimal Control ◽  
State Constraint ◽  
Driver Model ◽  
Optimal Solutions ◽  
Driving Behaviors ◽  
Human Driver ◽  
Proposed Model ◽  
Wide Range ◽  
Instrumented Vehicle ◽  
Road Testing

Abstract Safe and energy-efficient driving of connected and automated vehicles (CAVs) must be influenced by human-driven vehicles. Thus, to properly evaluate the energy impacts of CAVs in a simulation framework, a human driver model must capture a wide range of real-world driving behaviors corresponding to the surrounding environment. This paper formulates longitudinal human driving as an optimal control problem with a state constraint imposed by the vehicle in front. Deriving analytically optimal solutions by employing optimal control theory can capture longitudinal human driving behaviors with low computational burden, and adding the state constraint can assist with describing car-following features while anticipating behaviors of the vehicle in front. We also use on-road testing data collected by an instrumented vehicle to validate the proposed human driver model for stop scenarios at intersections. Results show that vehicle stopping trajectories of the proposed model are well matched with those of experimental data.

scholarly journals A Fuzzy Logic-Based Approach for Humanized Driver Modelling

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Yuxiang Feng ◽  
Pejman Iravani ◽  
Chris Brace
Keyword(s):  
Fuzzy Logic ◽  
Autonomous Vehicles ◽  
Control Strategies ◽  
Cost Effective ◽  
Autonomous Driving ◽  
Driver Model ◽  
Vehicle Model ◽  
Car Following ◽  
Wide Range ◽  
Instrumented Vehicle

All human drivers can be characterised by their habitual choice of driving behaviours, which results in a wide range of observed driving patterns and manoeuvres. Developing control strategies for autonomous vehicles that address this feature would increase the public acceptance of such vehicles. Therefore, this paper proposes a novel approach to developing rule-based fuzzy logic driver models that simulate different driving styles in the car-following regimes. These driver models were trained with the collected on-road driving data to capture corresponding human drivers’ characteristics. The proposed approach consists of three main components: collecting on-road driving data, developing a vehicle model, and establishing the car-following driver models. Firstly, an instrumented vehicle was used to collect driving data over the same route for three consecutive months. Car-following scenarios during these journeys were extracted, and related data were processed accordingly. Afterwards, a representative model of the instrumented vehicle was created and evaluated. Finally, a fuzzy logic driver model that uses humanized inputs was developed and calibrated with the recorded data. The developed driver model’s performance was assessed using the collected driving data and a baseline PID driver model. With the performance validated, models representing more aggressive and more defensive driving styles were derived following the same procedure. A cross-driver analysis was then implemented in a normalized car-following scenario with the established vehicle model to investigate the impacts of different driving styles further. The developed driver model can introduce driving styles into drive cycle experiments and replicate on-road real driving emission tests in the laboratory. Moreover, as the proposed method has high robustness to incomplete datasets, it can be a more cost-effective option to facilitate the development of humanized and customized vehicle control strategies for autonomous driving.

scholarly journals Generalized solutions of optimal control problems

2020 ◽  
pp. 104-114
Author(s):  
Ivan Beyko ◽  
Olesya Furtel ◽  
Julia Spivak
Keyword(s):  
Optimal Control ◽  
Differential Equations ◽  
Optimal Control Problems ◽  
Generalized Solutions ◽  
Control Problems ◽  
Optimal Solutions ◽  
Control Applications ◽  
Controlled Processes ◽  
Distributed Parameters ◽  
Wide Range

The problems of optimal control of systems of algebraic-integro-differential equations and partial differential equations are considered, which describe controlled processes with concentrated and distributed parameters. Generalized optimal solutions that exist for a wide range of optimal control applications are identified. Methods for constructing approximate generalized solutions are considered.

Autonomous Vehicles’ Car-Following Drivability Evaluation Based on Driving Behavior Spectrum Reference Model

2021 ◽  
pp. 036119812199485
Author(s):  
Xiao Qi ◽  
Ying Ni ◽  
Yiming Xu ◽  
Ye Tian ◽  
Junhua Wang ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Reference Model ◽  
Numerical Test ◽  
Safety Evaluation ◽  
Driving Behavior ◽  
Car Following ◽  
Driving Behaviors ◽  
Human Driver ◽  
Normal Human ◽  
Naturalistic Driving

A large portion of the accidents involving autonomous vehicles (AVs) are not caused by the functionality of AV, but rather because of human intervention, since AVs’ driving behavior was not properly understood by human drivers. Such misunderstanding leads to dangerous situations during interaction between AV and human-driven vehicle (HV). However, few researches considered HV-AV interaction safety in AV safety evaluation processes. One of the solutions is to let AV mimic a normal HV’s driving behavior so as to avoid misunderstanding to the most extent. Therefore, to evaluate the differences of driving behaviors between existing AV and HV is necessary. DRIVABILITY is defined in this study to characterize the similarity between AV’s driving behaviors and expected behaviors by human drivers. A driving behavior spectrum reference model built based on human drivers’ behaviors is proposed to evaluate AVs’ car-following drivability. The indicator of the desired reaction time (DRT) is proposed to characterize the car-following drivability. Relative entropy between the DRT distribution of AV and that of the entire human driver population are used to quantify the differences between driving behaviors. A human driver behavior spectrum was configured based on naturalistic driving data by human drivers collected in Shanghai, China. It is observed in the numerical test that amongst all three types of preset AVs in the well-received simulation package VTD, the brisk AV emulates a normal human driver to the most extent (ranking at 55th percentile), while the default AV and the comfortable AV rank at 35th and 8th percentile, respectively.

scholarly journals Prediction of Dead Oil Viscosity: Machine Learning vs. Classical Correlations

Energies ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 930
Author(s):  
Fahimeh Hadavimoghaddam ◽  
Mehdi Ostadhassan ◽  
Ehsan Heidaryan ◽  
Mohammad Ali Sadri ◽  
Inna Chapanova ◽  
...  
Keyword(s):  
Machine Learning ◽  
Viscosity Data ◽  
Oil Viscosity ◽  
Pvt Data ◽  
Proposed Model ◽  
Wide Range ◽  
Engineering Problems ◽  
Functional Forms ◽  
Insight Into

Dead oil viscosity is a critical parameter to solve numerous reservoir engineering problems and one of the most unreliable properties to predict with classical black oil correlations. Determination of dead oil viscosity by experiments is expensive and time-consuming, which means developing an accurate and quick prediction model is required. This paper implements six machine learning models: random forest (RF), lightgbm, XGBoost, multilayer perceptron (MLP) neural network, stochastic real-valued (SRV) and SuperLearner to predict dead oil viscosity. More than 2000 pressure–volume–temperature (PVT) data were used for developing and testing these models. A huge range of viscosity data were used, from light intermediate to heavy oil. In this study, we give insight into the performance of different functional forms that have been used in the literature to formulate dead oil viscosity. The results show that the functional form f(γAPI,T), has the best performance, and additional correlating parameters might be unnecessary. Furthermore, SuperLearner outperformed other machine learning (ML) algorithms as well as common correlations that are based on the metric analysis. The SuperLearner model can potentially replace the empirical models for viscosity predictions on a wide range of viscosities (any oil type). Ultimately, the proposed model is capable of simulating the true physical trend of the dead oil viscosity with variations of oil API gravity, temperature and shear rate.

scholarly journals Temporal concatenation for Markov decision processes

2021 ◽  
pp. 1-28
Author(s):  
Ruiyang Song ◽  
Kuang Xu
Keyword(s):  
Markov Decision Processes ◽  
Large Scale ◽  
Optimal Solution ◽  
Upper Bounds ◽  
Black Box ◽  
Decision Processes ◽  
Optimal Solutions ◽  
Wide Range ◽  
Markov Decision ◽  
Speed Up

We propose and analyze a temporal concatenation heuristic for solving large-scale finite-horizon Markov decision processes (MDP), which divides the MDP into smaller sub-problems along the time horizon and generates an overall solution by simply concatenating the optimal solutions from these sub-problems. As a “black box” architecture, temporal concatenation works with a wide range of existing MDP algorithms. Our main results characterize the regret of temporal concatenation compared to the optimal solution. We provide upper bounds for general MDP instances, as well as a family of MDP instances in which the upper bounds are shown to be tight. Together, our results demonstrate temporal concatenation's potential of substantial speed-up at the expense of some performance degradation.

scholarly journals Remote Sensing Image Stripe Detecting and Destriping Using the Joint Sparsity Constraint with Iterative Support Detection

2019 ◽  
Vol 11 (6) ◽  
pp. 608 ◽  
Author(s):  
Yun-Jia Sun ◽  
Ting-Zhu Huang ◽  
Tian-Hui Ma ◽  
Yong Chen
Keyword(s):  
Remote Sensing ◽  
Real Data ◽  
Total Variation Regularization ◽  
Joint Sparsity ◽  
Alternating Direction ◽  
Proposed Model ◽  
Comparison Results ◽  
Wide Range ◽  
Image Edges ◽  
Full Consideration

Remote sensing images have been applied to a wide range of fields, but they are often degraded by various types of stripes, which affect the image visual quality and limit the subsequent processing tasks. Most existing destriping methods fail to exploit the stripe properties adequately, leading to suboptimal performance. Based on a full consideration of the stripe properties, we propose a new destriping model to achieve stripe detection and stripe removal simultaneously. In this model, we adopt the unidirectional total variation regularization to depict the directional property of stripes and the weighted ℓ 2 , 1 -norm regularization to depict the joint sparsity of stripes. Then, we combine the alternating direction method of multipliers and iterative support detection to solve the proposed model effectively. Comparison results on simulated and real data suggest that the proposed method can remove and detect stripes effectively while preserving image edges and details.

scholarly journals A Model for Analysing the Collective Dynamic Behaviour and Characterising the Exploitation of Population-Based Algorithms

2014 ◽  
Vol 22 (1) ◽  
pp. 159-188 ◽  
Author(s):  
Mikdam Turkey ◽  
Riccardo Poli
Keyword(s):  
Population Dynamics ◽  
Dynamic Behaviour ◽  
Fitness Landscape ◽  
Population Based ◽  
Levels Of Abstraction ◽  
Collective Dynamic ◽  
Model Studies ◽  
Proposed Model ◽  
Wide Range ◽  
Multiple Levels

Several previous studies have focused on modelling and analysing the collective dynamic behaviour of population-based algorithms. However, an empirical approach for identifying and characterising such a behaviour is surprisingly lacking. In this paper, we present a new model to capture this collective behaviour, and to extract and quantify features associated with it. The proposed model studies the topological distribution of an algorithm's activity from both a genotypic and a phenotypic perspective, and represents population dynamics using multiple levels of abstraction. The model can have different instantiations. Here it has been implemented using a modified version of self-organising maps. These are used to represent and track the population motion in the fitness landscape as the algorithm operates on solving a problem. Based on this model, we developed a set of features that characterise the population's collective dynamic behaviour. By analysing them and revealing their dependency on fitness distributions, we were then able to define an indicator of the exploitation behaviour of an algorithm. This is an entropy-based measure that assesses the dependency on fitness distributions of different features of population dynamics. To test the proposed measures, evolutionary algorithms with different crossover operators, selection pressure levels and population handling techniques have been examined, which lead populations to exhibit a wide range of exploitation-exploration behaviours.

Prediction of High Viscosity Liquid/Gas Two-Phase Slug Length in Horizontal and Slightly Inclined Pipelines

2021 ◽  
Author(s):  
Omar Shaaban ◽  
Eissa Al-Safran
Keyword(s):  
Numerical Optimization ◽  
Flow Behavior ◽  
Mechanistic Model ◽  
High Viscosity ◽  
Oil Well ◽  
Liquid Slug ◽  
Two Phase ◽  
Proposed Model ◽  
Wide Range ◽  
Flow Closure

Abstract The production and transportation of high viscosity liquid/gas two-phase along petroleum production system is a challenging operation due to the lack of understanding the flow behavior and characteristics. In particular, accurate prediction of two-phase slug length in pipes is crucial to efficiently operate and safely design oil well and separation facilities. The objective of this study is to develop a mechanistic model to predict high viscosity liquid slug length in pipelines and to optimize the proper set of closure relationships required to ensure high accuracy prediction. A large high viscosity liquid slug length database is collected and presented in this study, against which the proposed model is validated and compared with other models. A mechanistic slug length model is derived based on the first principles of mass and momentum balances over a two-phase slug unit, which requires a set of closure relationships of other slug characteristics. To select the proper set of closure relationships, a numerical optimization is carried out using a large slug length dataset to minimize the prediction error. Thousands of combinations of various slug flow closure relationships were evaluated to identify the most appropriate relationships for the proposed slug length model under high viscosity slug length condition. Results show that the proposed slug length mechanistic model is applicable for a wide range of liquid viscosities and is sensitive to the selected closure relationships. Results revealed that the optimum closure relationships combination is Archibong-Eso et al. (2018) for slug frequency, Malnes (1983) for slug liquid holdup, Jeyachandra et al. (2012) for drift velocity, and Nicklin et al. (1962) for the distribution coefficient. Using the above set of closure relationships, model validation yields 37.8% absolute average percent error, outperforming all existing slug length models.

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