Dissipation of Stop-and-Go Waves via Control of Autonomous Vehicles: Experimental Results: Data

2017 ◽  
Author(s):  
Raphael E. Stern ◽  
Cui Shumo ◽  
Maria Laura Delle Monache ◽  
Rahul Bhadani ◽  
Matt Bunting ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Experimental Results ◽  
Stop And Go

scholarly journals Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments

2018 ◽  
Vol 89 ◽  
pp. 205-221 ◽  
Author(s):  
Raphael E. Stern ◽  
Shumo Cui ◽  
Maria Laura Delle Monache ◽  
Rahul Bhadani ◽  
Matt Bunting ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Field Experiments ◽  
Stop And Go

scholarly journals Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Algorithms ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 108 ◽  
Author(s):  
Natalia Alekseeva ◽  
Ivan Tanev ◽  
Katsunori Shimohara
Keyword(s):  
Genetic Programming ◽  
Autonomous Vehicles ◽  
Pid Controller ◽  
Control Model ◽  
Servo Control ◽  
Experimental Results ◽  
Pd Controller ◽  
Quality Of Control ◽  
Computing Paradigm

The most important characteristics of autonomous vehicles are their safety and their ability to adapt to various traffic situations and road conditions. In our research, we focused on the development of controllers for automated steering of a realistically simulated car in slippery road conditions. We comparatively investigated three implementations of such controllers: a proportional-derivative (PD) controller built in accordance with the canonical servo-control model of steering, a PID controller as an extension of the servo-control, and a controller designed heuristically via the most versatile evolutionary computing paradigm: genetic programming (GP). The experimental results suggest that the controller evolved via GP offers the best quality of control of the car in all of the tested slippery (rainy, snowy, and icy) road conditions.

scholarly journals Automated Conflict Management Framework Development for Autonomous Aerial and Ground Vehicles

Energies ◽  
2021 ◽  
Vol 14 (24) ◽  
pp. 8344
Author(s):  
David Sziroczák ◽  
Daniel Rohács
Keyword(s):  
Conflict Management ◽  
Autonomous Vehicles ◽  
Unmanned Vehicles ◽  
Urban Traffic ◽  
Ground Vehicles ◽  
Management Framework ◽  
Incremental Development ◽  
Stop And Go ◽  
High Level ◽  
Framework Development

The number of aerial- and ground-based unmanned vehicles and operations is expected to significantly expand in the near future. While aviation traditionally has an excellent safety record in managing conflicts, the current approaches will not be able to provide safe and efficient operations in the future. This paper presents the development of a novel framework integrating autonomous aerial and ground vehicles to facilitate short- and mid-term tactical conflict management. The methodology presents the development of a modular web service framework to develop new conflict management algorithms. This new framework is aimed at managing urban and peri-urban traffic of unmanned ground vehicles and assisting the introduction of urban air mobility into the same framework. A set of high-level system requirements is defined. The incremental development of two versions of the system prototype is presented. The discussions highlight the lessons learnt while implementing and testing the conflict management system and the introduced version of the stop-and-go resolution algorithm and defines the identified future development directions. Operation of the system was successfully demonstrated using real hardware. The developed framework implements short- and mid-term conflict management methodologies in a safe, resource efficient and scalable manner and can be used for the further development and the evaluation of various methods integrating aerial- and ground-based autonomous vehicles.

scholarly journals The Adoption of Green Vehicles in Last Mile Logistics: A Systematic Review

2020 ◽  
Vol 13 (1) ◽  
pp. 6
Author(s):  
Sergio Maria Patella ◽  
Gianluca Grazieschi ◽  
Valerio Gatta ◽  
Edoardo Marcucci ◽  
Stefano Carrese
Keyword(s):  
Systematic Review ◽  
Autonomous Vehicles ◽  
Empirical Literature ◽  
Negative Externalities ◽  
Public Authorities ◽  
Urban Freight ◽  
Stop And Go ◽  
Last Mile ◽  
Green Vehicles ◽  
Selection Of

Widespread adoption of green vehicles in urban logistics may contribute to the alleviation of problems such as environmental pollution, global warming, and oil dependency. However, the current adoption of green vehicles in the last mile logistics is relatively low despite many actions taken by public authorities to overcome the negative externalities of distributing goods in cities. This paper presents a comprehensive literature review on studies investigating the adoption of green vehicles in urban freight transportation, paying specific attention to e-commerce. To shed light on the adoption of green vehicles in city logistics, the paper conducts a systematic review of the empirical literature on the topic. The 159 articles reviewed were classified into the following: (a) Optimization and scheduling (67 papers); (b) policy (55 papers); (c) sustainability (37 papers). Among the 159 articles, a further selection of 17 papers dealing with e-commerce, i.e., studies that highlight the most relevant aspects related to the integration of green vehicles in e-commerce urban logistics, was performed. Our findings indicate that green vehicles are competitive in urban deliveries characterized by frequent stop-and-go movements and low consolidation levels while incentives are still necessary for their adoption. The use of autonomous vehicles results the most promising and challenging solution for last-mile logistics.

The Design of a Control Coupled Observer for the Longitudinal Control of Autonomous Vehicles

1998 ◽  
Vol 120 (2) ◽  
pp. 288-289 ◽  
Author(s):  
Seibum Ben Choi
Keyword(s):  
Research Program ◽  
Autonomous Vehicles ◽  
Experimental Results ◽  
Phase Lag ◽  
Longitudinal Control

This paper presents a distance observer that was developed for the longitudinal control of autonomous vehicles. The observer is implemented on a platoon of test vehicles as part of the California PATH research program. The experimental results show that the observer filters out the sensing error very effectively without any noticeable phase lag.

scholarly journals Getting closer to the goal by being less capable

2019 ◽  
Vol 5 (2) ◽  
pp. eaau5902 ◽  
Author(s):  
Pedro D. Manrique ◽  
Mason Klein ◽  
Yao Sheng Li ◽  
Chen Xu ◽  
Pak Ming Hui ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Biological Evolution ◽  
Living Organism ◽  
Experimental Results ◽  
Bottom Up ◽  
Food Engineering

Understanding how systems with many semi-autonomous parts reach a desired target is a key question in biology (e.g., Drosophila larvae seeking food), engineering (e.g., driverless navigation), medicine (e.g., reliable movement for brain-damaged individuals), and socioeconomics (e.g., bottom-up goal-driven human organizations). Centralized systems perform better with better components. Here, we show, by contrast, that a decentralized entity is more efficient at reaching a target when its components are less capable. Our findings reproduce experimental results for a living organism, predict that autonomous vehicles may perform better with simpler components, offer a fresh explanation for why biological evolution jumped from decentralized to centralized design, suggest how efficient movement might be achieved despite damaged centralized function, and provide a formula predicting the optimum capability of a system’s components so that it comes as close as possible to its target or goal.

Traffic Oscillation using Stochastic Lagrangian Dynamics: Simulation and Mitigation via Control of Autonomous Vehicles

2019 ◽  
Vol 2673 (7) ◽  
pp. 1-11
Author(s):  
Fangfang Zheng ◽  
Liang Lu ◽  
Ruijie Li ◽  
Xiaobo Liu ◽  
Youhua Tang
Keyword(s):  
Traffic Flow ◽  
Autonomous Vehicles ◽  
Control Strategies ◽  
Dynamics Simulation ◽  
Lagrangian Model ◽  
Mixed Traffic ◽  
Mixed Traffic Flow ◽  
Sample Paths ◽  
Stop And Go ◽  
The Impact

The phenomenon of stop-and-go waves is frequently observed in congested traffic. With the development of connected and autonomous vehicle (CAV) technologies, it is possible to reduce traffic oscillation via control of CAVs in a mixed traffic flow with both human drivers and autonomous vehicles (AVs). This paper introduces a stochastic Lagrangian model which is capable of simulating stop-and-go traffic considering the heterogeneity of drivers. The sample paths of the stochastic process are smooth without aggressive oscillation. The model is further extended to the mixed traffic flow condition, considering stochastic human driving behavior and deterministic behavior of AVs. With the proposed model, the variation of performance of AV control strategies can be quantified in addition to the average performance. A numerical example with a single lane circular road is used to investigate the impact of the AV control strategy on mitigating stop-and-go waves. Both qualitative and quantitative results show that the phenomenon of stop-and-go waves can be reduced significantly with only one AV, while the increase of AVs from 10% (two AVs) to 50% (10 AVs) offers just marginal improvement in relation to the ensemble-averaged performance and 95% confidence interval of the ensemble-averaged performance. The proposed simulation approach based on the stochastic Lagrangian model can effectively investigate the impact of AV control strategies on traffic oscillation, considering in particular the uncertainty of human driver behavior.

Observability Conditions for Switching Sensing Topology for Cooperative Localization

2017 ◽  
Vol 05 (03) ◽  
pp. 141-157 ◽  
Author(s):  
Anusna Chakraborty ◽  
Sohum Misra ◽  
Rajnikant Sharma ◽  
Clark. N. Taylor
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Discrete Time ◽  
Autonomous Vehicles ◽  
Experimental Results ◽  
Special Focus ◽  
Cooperative Localization ◽  
Localization Problem ◽  
Local Motion

In this paper, we solve a discrete-time bearing-only cooperative localization problem for a team of autonomous vehicles with a special focus on switching sensing topology. A centralized Extended Kalman Filter (EKF) is used for jointly estimating position and heading of all the vehicles using local motion and relative bearing measurements. We derive discrete-time conditions for switching relative sensing topology. Furthermore, we use cooperative synchronization for generating vehicle paths that satisfy the observability conditions. The conditions are verified through simulation and experimental results.

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