scholarly journals An Efficient Lane Change Maneuver for Platoons of Vehicles in an Automated Highway System

2003 ◽  
Author(s):  
Xiaotian Sun ◽  
Roberto Horowitz ◽  
Chin-Woo Tan
Keyword(s):  
Space Time ◽  
Lane Change ◽  
String Stability ◽  
Lane Changing ◽  
Adjustment Procedure ◽  
The Common ◽  
Automated Highway ◽  
Common Leader ◽  
Highway System

The current lane change maneuver for vehicles in a platoon under the California PATH automated highway system (AHS) architecture is inefficient, because the follower has to split from the rest of the platoon before making a lane change. In this paper, we propose to add a lane change within platoons maneuver that allows a follower to change lanes and be inserted into another platoon directly without splitting either platoon. This maneuver is performed by aligning and locking the longitudinal positions of the two platoons in adjacent lanes. The estimated improvement in the AHS utilization, in term of the space-time, is approximately 4342 m.s. The longitudinal controller for the lane changing follower is designed and proved to maintain the string stability of the platoons. The leader law is modified for the common leader of the two locked platoons. An intra-platoon spacing adjustment procedure is also designed for the purpose of the proposed maneuver.

Hidden Markov Model of Lane-Changing-Based Car-Following Behavior on Freeways using Naturalistic Driving Data

2021 ◽  
pp. 036119812199938
Author(s):  
Li Zhao ◽  
Laurence Rilett ◽  
Mm Shakiul Haque
Keyword(s):  
Markov Model ◽  
Hidden Markov Model ◽  
Hidden Markov ◽  
Gaussian Mixture ◽  
Vehicle Body ◽  
Lane Change ◽  
Lane Changing ◽  
Car Following ◽  
Pilot Model ◽  
Naturalistic Driving

This paper develops a methodology for simultaneously modeling lane-changing and car-following behavior of automated vehicles on freeways. Naturalistic driving data from the Safety Pilot Model Deployment (SPMD) program are used. First, a framework to process the SPMD data is proposed using various data analytics techniques including data fusion, data mining, and machine learning. Second, pairs of automated host vehicle and their corresponding front vehicle are identified along with their lane-change and car-following relationship data. Using these data, a lane-changing-based car-following (LCCF) model, which explicitly considers lane-change and car-following behavior simultaneously, is developed. The LCCF model is based on Gaussian-mixture-based hidden Markov model theory and is disaggregated into two processes: LCCF association and LCCF dissociation. These categories are based on the result of the lane change. The overall goal is to predict a driver’s lane-change intention using the LCCF model. Results show that the model can predict the lane-change event in the order of 0.6 to 1.3 s before the moment of the vehicle body across the lane boundary. In addition, the execution times of lane-change maneuvers average between 0.55 and 0.86 s. The LCCF model allows the intention time and execution time of driver’s lane-change behavior to be forecast, which will help to develop better advanced driver assistance systems for vehicle controls with respect to lane-change and car-following warning functions.

scholarly journals Automatic Lane-Changing Decision Based on Single-Step Dynamic Game with Incomplete Information and Collision-Free Path Planning

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 173
Author(s):  
Hongbo Wang ◽  
Shihan Xu ◽  
Longze Deng
Keyword(s):  
Path Planning ◽  
Dynamic Game ◽  
Single Step ◽  
Bézier Curve ◽  
Vehicle Safety ◽  
Bezier Curve ◽  
Lane Change ◽  
Hardware In The Loop ◽  
Power Performance ◽  
Lane Changing

Traffic accidents are often caused by improper lane changes. Although the safety of lane-changing has attracted extensive attention in the vehicle and traffic fields, there are few studies considering the lateral comfort of vehicle users in lane-changing decision-making. Lane-changing decision-making by single-step dynamic game with incomplete information and path planning based on Bézier curve are proposed in this paper to coordinate vehicle lane-changing performance from safety payoff, velocity payoff, and comfort payoff. First, the lane-changing safety distance which is improved by collecting lane-changing data through simulated driving, and lane-changing time obtained by Bézier curve path planning are introduced into the game payoff, so that the selection of the lane-changing start time considers the vehicle safety, power performance and passenger comfort of the lane-changing process. Second, the lane-changing path without collision to the forward vehicle is obtained through the constrained Bézier curve, and the Bézier curve is further constrained to obtain a smoother lane-changing path. The path tracking sliding mode controller of front wheel angle compensation by radical basis function neural network is designed. Finally, the model in the loop simulation and the hardware in the loop experiment are carried out to verify the advantages of the proposed method. The results of three lane-changing conditions designed in the hardware in the loop experiment show that the vehicle safety, power performance, and passenger comfort of the vehicle controlled by the proposed method are better than that of human drivers in discretionary lane change and mandatory lane change scenarios.

scholarly journals A Game Theory-Based Approach for Modeling Autonomous Vehicle Behavior in Congested, Urban Lane-Changing Scenarios

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1523
Author(s):  
Nikita Smirnov ◽  
Yuzhou Liu ◽  
Aso Validi ◽  
Walter Morales-Alvarez ◽  
Cristina Olaverri-Monreal
Keyword(s):  
Game Theory ◽  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Urban Traffic ◽  
Road User ◽  
Lane Change ◽  
Traffic Light ◽  
User Interactions ◽  
Lane Changing

Autonomous vehicles are expected to display human-like behavior, at least to the extent that their decisions can be intuitively understood by other road users. If this is not the case, the coexistence of manual and autonomous vehicles in a mixed environment might affect road user interactions negatively and might jeopardize road safety. To this end, it is highly important to design algorithms that are capable of analyzing human decision-making processes and of reproducing them. In this context, lane-change maneuvers have been studied extensively. However, not all potential scenarios have been considered, since most works have focused on highway rather than urban scenarios. We contribute to the field of research by investigating a particular urban traffic scenario in which an autonomous vehicle needs to determine the level of cooperation of the vehicles in the adjacent lane in order to proceed with a lane change. To this end, we present a game theory-based decision-making model for lane changing in congested urban intersections. The model takes as input driving-related parameters related to vehicles in the intersection before they come to a complete stop. We validated the model by relying on the Co-AutoSim simulator. We compared the prediction model outcomes with actual participant decisions, i.e., whether they allowed the autonomous vehicle to drive in front of them. The results are promising, with the prediction accuracy being 100% in all of the cases in which the participants allowed the lane change and 83.3% in the other cases. The false predictions were due to delays in resuming driving after the traffic light turned green.

Three-Phase and Five-Phase Motor Windings Common Point Potential Ripple with Respect to the Converter Zero Termina

Vestnik MEI ◽  
2021 ◽  
Vol 2 (2) ◽  
pp. 51-59
Author(s):  
Vladimir M. Tereshkin ◽  
◽  
Irshat L. Aitov ◽  
Dmitriy A. Grishin ◽  
Vyacheslav V. Tereshkin ◽  
...  
Keyword(s):  
Amplitude Modulation ◽  
Zero Point ◽  
Space Time ◽  
Common Point ◽  
Point Potential ◽  
Voltage Vector ◽  
Three Phase ◽  
Ripple Amplitude ◽  
The Common ◽  
Rotating Field

The aim of the study is to determine the parameters characterizing the ripple of a motor's three- and five-phase windings common point potentials (for the star winding connection diagram) with respect to the converter zero point. One of the reserves for decreasing electromagnetically induced vibration of an electric motor with a rotating field is to increase the number of working winding phases. The study subject is a five-phase motor winding connected to a bridge converter, namely, its ability to reduce electromagnetically induced vibration in comparison with that in using a three-phase winding. The common point potential ripple parameters are studied, and an approach is proposed to estimating the amplitude modulation of the space-time voltage vector of three- and five-phase windings under the influence of the common point potential ripple with respect to the converter zero point. Theoretical studies were carried out using the Fourier series expansion method and vector analysis methods. To confirm the theoretical results, experimental studies of the prototypes of three-phase and five-phase synchronous motors with inductors made on the basis of permanent magnets were carried out. The main results have shown the following. With increasing the number of phases of the rotating field motor working winding connected to a bridge converter, the common point potential ripple amplitude with respect to the converter zero point decreases, and the ripple frequency increases. The product of ripple amplitude by frequency remains unchanged. It is assumed that the common point potential ripple of the motor multiphase winding with respect to the converter zero terminal results in the amplitude modulation of the space-time voltage vector. With increasing the number of winding phases, the modulation amplitude decreases, and the modulation frequency increases. A five-phase motor has a lower level of the working winding common point potential ripple with respect to the converter zero point in comparison with a three-phase motor. Thus, it can be assumed that there will be a lower level of electromagnetically induced vibration in using a simple converter operation algorithm. The obtained results can be used in designing electric traction systems with vector control on the basis of multiphase motors. With increasing the number of phases, the common point potential ripple amplitude in a multiphase winding with respect to the converter zero point decreases, and the ripple frequency increases. Thus, the common point potential ripple amplitude in a five-phase winding is 5/3 times less than that in a three-phase winding, and the ripple frequency increases by 5/3 times, respectively. With increasing the number of working winding phases, the amplitude modulation of the resulting space-time voltage vector decreases. This circumstance has a positive effect on decreasing the electromagnetically induced vibration.

Control design of an automated highway system

2000 ◽  
Vol 88 (7) ◽  
pp. 913-925 ◽  
Author(s):  
R. Horowitz ◽  
P. Varaiya
Keyword(s):  
Control Design ◽  
Automated Highway ◽  
Highway System

Minimum Safety Distances for Emergency Braking Maneuvers in Car-Following Applications

2020 ◽  
Author(s):  
Devin Schafer ◽  
Pingen Chen
Keyword(s):  
Aerodynamic Force ◽  
Lane Change ◽  
Passenger Vehicle ◽  
Lane Changing ◽  
Car Following ◽  
Emergency Braking ◽  
Safety Distance ◽  
Bicycle Model ◽  
Vehicle Efficiency ◽  
Different Types

Abstract Platooning/car following has been considered as a promising approach for improving vehicle efficiency due to the reduction of aerodynamic force when closely following a pilot vehicle. However, safety is a major concern in the close car platooning/following. This paper investigates the minimum inter-vehicle distances required for a passenger vehicle to safely travel behind a heavy-duty truck with three different types of emergency maneuvers. The three emergency maneuvers considered are braking only, steering only, and braking then steering, where steering refers to a single lane change maneuver. Numerical analysis is conducted for deriving the clearance space in the braking only scenario. In addition, simulations are conducted in MATLAB/Simulink, using a bicycle model for the vehicle dynamics, to examine the minimum safe following distance for the other two scenarios. The simulation results show that, for initial vehicle speeds greater than 8 m/s, a lane change maneuver requires the shortest safety distance. Braking followed by lane changing usually requires the largest minimum safety distance.

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