Browse Topic: Platooning

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Arrangement and Control Method of Cooperative Vehicle Platoon2021-01-01134/6/2021
With the development of cellular communication technology and for the sake of reducing drag resistance, the multi-lane platoon technology will be more prosperous in the future. In this article, the cooperative vehicle platoon method on the public road is represented. The method’s architecture is mainly composed of the following parts: decision-making, path planning and control command generation. The decision-making uses the finite state machine to make decision and judgment on the cooperative lane change of vehicles, and starts to execute the lane change step when the lane change requirements are met. In terms of path planning, with the goal of ensuring comfort, the continuity of the vehicle state and no collision between vehicles, a fifth-order polynomial is used to fit every vehicle trajectory. In terms of control command generation module, a model predictive control algorithm is used to solve the multi-vehicle centralized optimization control problem. We use the two DOF vehicle model to simulate vehicle dynamics. The front wheel angle and acceleration or braking commands of multiple vehicles are optimized to ensure that the vehicle can well follow the trajectory of the vehicle which is calculated by the control command generation module. At the same time, the energy consumed by performing steering, acceleration and deceleration is also minimized. Finally, in the simulation process, we simulate one direction two lanes scenario. The result shows that the proposed method can effectively handle multi-lane platoon re-configuration scenario.
Chen, Guosheng, Wu, Jian, Li, Shuai, Zhang, Jinghua, Du, Zhiqiang, Wang, Guojun, Chen, Zhicheng
The Design of Safe-Reliable-Optimal Performance for Automated Driving Systems on Multiple Lanes with Merging Features2020-01-01224/14/2020
Safety function for automated driving systems including advanced driver assistance systems and autonomous vehicle systems is very important. Inside safety function, predictive judge sub-function should be designed with the consideration of more and more penetration of automated driving vehicles. This paper presents the design on multiple lanes with merging features based on the author's previous Patent JP2019-147944 using predictive time-head-way and time-to-collision maps. In the author's previous work (Model Predictive Control for Hybrid Electric Vehicle Platooning Using Slope Information-Published on IEEE Transactions on Intelligent Transportation Systems), a model predictive control framework was designed. Due to the difficulty to detail the sub-safety function deeply with merging features, few works are found to deal with sensor platforms focusing on rear side, and situations of merging lane side with the consideration of relative relation variations with other vehicles and road border markers. However, performance enhancement is needed assuring 100% safety-reliability-optimality and single-objectivity. Also, platforms of on-board sensors including side and rear view are needed to deal with false negative operations and false positive operations. The optimal operation line model of human factors is designed based on time-head-way (reliability), time-to-collision (safety), and combinations of time-head-way and time-to-collision (optimality). The general theory of model predictive control is used to find the target. The model based methodology is applied to solve the human factor model of risk feeling based on only time-head-way and time-to-collision for the human reaction and acceptance metric. Experimental results validated the effectiveness of the proposed approach. The model parameters can be calibrated internationally by tuning the metric of cooperativeness. The target of the predictive judge sub-function is to move the operation point to the specified area. The predictive judge sub-function on high level is decisive for regulation control to move the operation point from difficult areas to the target area in future.
Yu, Kaijiang
LiDAR-Based Urban Autonomous Platooning Simulation2020-01-07174/14/2020
The technological advancements of Advanced Driver Assistance Systems (ADAS) sensors enable the ability to; achieve autonomous vehicle platooning, increase the capacity of road lanes, and reduce traffic. This article focuses on developing urban autonomous platooning using LiDAR and GPS/IMU sensors in a simulation environment. Gazebo simulation is utilized to simulate the sensors, vehicles, and testing environment. Two vehicles are used in this study; a Lead vehicle that follows a preplanned trajectory, while the remaining vehicle (Follower) uses the LiDAR object detection and tracking information to mimic the Lead vehicle. The LiDAR object detection is handled in multiple stages: point cloud frame transformation, filtering and down-sampling, ground segmentation, and clustering. The tracking algorithm uses the clustering information to provide position and velocity of the Lead vehicle which allows for vehicle platooning. This paper covers the LiDAR object detection and tracking algorithms as well as the autonomous platooning control algorithms which were tested in a simulation environment. Test results illustrate that the Follower vehicle was able to attain the autonomous platooning based on the LiDAR data.
Alzu'bi, Hamzeh, Tasky, Tom
Intelligent Traffic Control Method for Emergency Vehicles Prioritization Based on DSRC Transportation System2018-01-16448/7/2018
Emergency Vehicles (EmVs) prioritization is critical to be studied in view of the effectiveness of emergency delivery. Adaptive traffic lights can be employed based on DSRC (Dedicated Short Range Communication) system, as vehicle status and traffic lights information can be delivered to Road Side Unit (RSU). In other research work of manipulating traffic lights, only the EmVs are considered. Therefore there are still risks for non-EmVs due to insufficient time of braking. This paper provides an adaptive traffic light control method which takes into account of EmVs and non-EmVs on all the directions of lanes at the road section. In this control method, three operation modes of traffic light are proposed and the traffic light can be converted among three operation modes: Normal mode, Warning mode and Priority mode. Moreover, a collision prediction of upcoming non-EmVs on the orthogonal lane of EmVs in the junction is performed, which results in non-EmVs protection within predefined distance to guarantee the safe mobility of no-EmVs in the orthogonal direction. Afterwards, the traffic light enters into Warning mode to provide a warning and buffering time for upcoming drivers. Then traffic lights turn into Priority mode until emergency vehicle leaves the junction. Before the traffic lights are back to the Normal mode, Warning mode is carried out again to ensure sufficient braking time for following non-EmVs in case of change of traffic lights. In a summary, this adaptive traffic light control method not only protects EmVs, but also improves the safe mobility of non-EmVs. Finally simulation is carried out and the results show that this method can greatly improve the efficiency and safety for EmVs and non-EmVs and reduce the accident rate in the junction.
Guo, Peng, Wang, Mengdan, Rong, Hui, Wang, Wenyang
Autonomous Vehicle Engineering: August 201818AVEP088/2/2018
Editorial V2Reality Blockchain Unchained! The weird world of cryptocurrency exists because of the intense mathematics of blockchain technology. The mobility sector is looking beyond Bitcoin to put blockchain to work in potentially game-changing ways. Are Blockchain and 'Smart Contracts' the Secure Future? Legal risk and reward of blockchain and smart contracts as a prescription for automotive applications Software Building Blocks for AV Systems Elektrobit's unique software framework is designed to smooth development of automated driving functions. Cyber Security Goes Upstream The first cloud-based solution for connected vehicles was born in Israel and is now pilot testing at global OEMs. Electronic Architectures Get Smart Upgradable, scalable and powerful new architectures will help enable data-hungry connected, autonomous vehicles. Aptiv's VP of Mobility Architecture explains. Reliability, Safety, and AV Development An overemphasis on safety without a robust and equivalent reliabili-ty process and organization will result in errors that could be catastrophic. Understanding the Self-Driving Revolution A new book on autonomy from one of the ultimate insiders. Software Rewrites the Rules Revenue streams and business models are changing as more vehicle functions move to software. Blackberry QNX's John Wall explains. Truck Platoons on the Move Trials increase to determine if fuel economy, safety improvements make platooning worthwhile-but issues still need to be resolved. Defanging Driverless Cars A pioneering program gives everyday people the chance to ride in an automated vehicle on public roads.
2021-12-29.TEST Drive Scenario Generation Based on Metrics for Evaluating an Autonomous Vehicle Controller2018-01-00344/3/2018
An important part of automotive driving assistance systems and autonomous vehicles is speed optimization and traffic flow adaptation. Vehicle sensors and wireless communication with surrounding vehicles and road infrastructure allow for predictive control strategies taking near-future road and traffic information into consideration to improve fuel economy. For the development of autonomous vehicle speed control algorithms, it is imperative that the controller can be evaluated under different realistic driving and traffic conditions. Evaluation in real-life traffic situations is difficult and experimental methods are necessary where similar driving conditions can be reproduced to compare different control strategies. A traditional approach for evaluating vehicle performance, for example fuel consumption, is to use predefined driving cycles including a speed profile the vehicle should follow. However, if the vehicle speed is part of the vehicle control output, a different vehicle evaluation framework is necessary. Here, speed constraints are defined based on route and traffic conditions, such as speed limits, traffic signs and signals, and the locations of surrounding vehicles. Hence, route generation is an important task for evaluating speed control algorithms. A route is a distance-based description of the road conditions and locations of traffic signs and signals. A driving scenario is defined as a route which also includes information about traffic density and the location of surrounding traffic as function of time. It is discussed how driving scenarios can be used to evaluate and compare different speed control algorithms. The generation of driving scenarios is performed in two steps, route generation and traffic data generation. First, two approaches are discussed for generating the route conditions, such as varying speed limits and locations of traffic signals, either using real road map data or to recreate from vehicle speed data. In a second step, traffic conditions are simulated using the software SUMO to generate speed profiles of surrounding vehicles on the road. To assure that the selected driving scenarios represent varying driving conditions, a set of metrics is selected and used for driving scenario selection.
Tamilarasan, Santhosh, Jung, Daniel, Guvenc, Levent
2021-12-29.TEST Overtaking or Merging? Eco-Routing Decision and Speed Trajectory with Full Terrain Information2018-01-00384/3/2018
With vehicle platooning becoming an important research field in recent years, it is now imperative to introduce platoons as part of the dynamic environment, considering overtaking and merging possibilities. This article studies optimal speed trajectories and longitudinal control with optimized energy efficiency for an autonomous vehicle with several preceding platoons and full terrain information. It aims at improving the energy efficiency of vehicles with Advanced Driver Assistance Systems (ADAS). A forward discrete dynamic programming (DDP) algorithm with distance as the discretization basis is used to derive speed trajectories in the trade-off between air drag reduction and energy saved by utilizing the road slope information. The problem is decomposed into decisions whether to overtake or to merge into the nearest platoon with the assumption of sufficient distance among platoons. During the process, speed choices and cost function reflect interactions among the controlled vehicle, the platoons, and the road. Simulations confirm that the energy consumed can be reduced significantly when tracking optimal trajectories compared to driving by the existing model predictive control (MPC) tracking strategy and linear quadratic regulator (LQR). For a trip of 500 m, if the primary velocity of the ego vehicle is 7.5 m/s and the initial state of a preceding platoon is 10 m from the ego car, 8 m/s, the energy cost saving of the proposed solution can be up to 3.45% compared by LQR. When there are two platoons whose original states are 10 m, 7 m/s, and 35 m, 7.5 m/s respectively, the energy saving of the ego car with initial velocity of 8 m/s is 3.07% compared by LQR and 1.99% by MPC. Simulations indicate the potential of energy efficiency of the proposed method for further studies with more sophisticated conditions. Sensitivity analysis has shown that the energy saving is not sensitive to the initial speed of the ego car when it is relatively low.
Li, Ting Jun, Shen, Minghao, Zheng, Hongyu
Driverless cars and freeway traffic flow17AUTP10_0310/1/2017
Analysis shows platooning and wave damping can reduce congestion. The integration of driverless cars onto multilane freeways brings challenges for vehicle and infrastructure planners, not the least of which is ever increasing congestion. The threshold for serious congestion is a population of 300,000. The U.S. currently has 51 traffic-congested cities with population of 380,000 or more. Can driverless vehicles with full vehicle-to-infrastructure (V2I) connectivity favorably affect congestion? The answer is yes. This means construction of new freeway lanes may not be needed except in exceptional cases.
Fuhs, Allen
A Method towards the Systematic Architecting of Functionally Safe Automated Driving- Leveraging Diagnostic Specifications for FSC design2017-01-00563/28/2017
With the advent of ISO 26262 there is an increased emphasis on top-down design in the automotive industry. While the standard delivers a best practice framework and a reference safety lifecycle, it lacks detailed requirements for its various constituent phases. The lack of guidance becomes especially evident for the reuse of legacy components and subsystems, the most common scenario in the cost-sensitive automotive domain, leaving vehicle architects and safety engineers to rely on experience without methodological support for their decisions. This poses particular challenges in the industry which is currently undergoing many significant changes due to new features like connectivity, servitization, electrification and automation. In this paper we focus on automated driving where multiple subsystems, both new and legacy, need to coordinate to realize a safety-critical function. This paper introduces a method to support consistent design of a work product required by ISO 26262, the Functional Safety Concept (FSC). The method arises from and addresses a need within the industry for architectural analysis, rationale management and reuse of legacy subsystems. The method makes use of an existing work product, the diagnostic specifications of a subsystem, to assist in performing a systematic assessment of the influence a human driver, in the design of the subsystem. The output of the method is a report with an abstraction level suitable for a vehicle architect, used as a basis for decisions related to the FSC such as generating a Preliminary Architecture (PA) and building up argumentation for verification of the FSC. The proposed method is tested in a safety-critical braking subsystem at one of the largest heavy vehicle manufacturers in Sweden, Scania C.V. AB. The results demonstrate the benefits of the method including (i) reuse of pre-existing work products, (ii) gathering requirements for automated driving functions while designing the PA and FSC, (iii) the parallelization of work across the organization on the basis of expertise, and (iv) the applicability of the method across all types of subsystems.
Mohan, Naveen, Törngren, Martin, Behere, Sagar
Impact of Different Desired Velocity Profiles and Controller Gains on Convoy Driveability of Cooperative Adaptive Cruise Control Operated Platoons2017-01-01113/28/2017
As the development of autonomous vehicles rapidly advances, the use of convoying/platooning becomes a more widely explored technology option for saving fuel and increasing the efficiency of traffic. In cooperative adaptive cruise control (CACC), the vehicles in a convoy follow each other under adaptive cruise control (ACC) that is augmented by the sharing of preceding vehicle acceleration through the vehicle to vehicle communication in a feedforward control path. In general, the desired velocity optimization for vehicles in the convoy is based on fuel economy optimization, rather than driveability. This paper is a preliminary study on the impact of the desired velocity profile on the driveability characteristics of a convoy of vehicles and the controller gain impact on the driveability. A simple low-level longitudinal model of the vehicle has been used along with a PD type cruise controller and a generic spacing policy for ACC/CACC. The acceleration of the previous vehicle is available to the next vehicle as input, and the simulations are performed as Cooperative Adaptive Cruise Control of a convoy of vehicles. Individual vehicle acceleration profiles have been analyzed for driveability for two different velocity profiles that are followed in a stretch of 720 m between stop signs. The controller gains have been re-tuned based on the parameter space robust control PID approach for driveability and compared with the original gains. The US06 SFTP drive cycle has also been used for the comparison of the two different controller gain sets.
Tamilarasan, Santhosh, Guvenc, Levent
Prediction formula of Aerodynamic Drag Reduction in Multiple-Vehicle Platooning Based on Wake Analysis and On-Road Experiments2016-01-15964/5/2016
An experimental study on reducing aerodynamic drag and improving fuel economy through vehicle platooning was conducted to develop an Intelligent Transport System (ITS) with good fuel economy of the entire vehicle-based transportation society. The objectives of the present study are to achieve a simple and quick approach to estimating the aerodynamic drag reduction rates of vehicle platooning. This paper reports the prediction formula, including the conditions of various types of vehicles in multiple-vehicle platooning, based on the power law of a free turbulent axisymmetric wake and on-road experimental results. Note, the prediction formula in this study does not fully include the effect of various type of wake deficit patterns due to rear shape of vehicle and atmospheric wind. Therefore, continuous study is needed to examine the applicable limit.
Tadakuma, Kenji, Doi, Tomoyuki, Shida, Mitsuhisa, Maeda, Kazuhiro
Challenges in Autonomous Vehicle Testing and Validation2016-01-01284/5/2016
Software testing is all too often simply a bug hunt rather than a well-considered exercise in ensuring quality. A more methodical approach than a simple cycle of system-level test-fail-patch-test will be required to deploy safe autonomous vehicles at scale. The ISO 26262 development V process sets up a framework that ties each type of testing to a corresponding design or requirement document, but presents challenges when adapted to deal with the sorts of novel testing problems that face autonomous vehicles. This paper identifies five major challenge areas in testing according to the V model for autonomous vehicles: driver out of the loop, complex requirements, non-deterministic algorithms, inductive learning algorithms, and fail-operational systems. General solution approaches that seem promising across these different challenge areas include: phased deployment using successively relaxed operational scenarios, use of a monitor/actuator pair architecture to separate the most complex autonomy functions from simpler safety functions, and fault injection as a way to perform more efficient edge case testing. While significant challenges remain in safety-certifying the type of algorithms that provide high-level autonomy themselves, it seems within reach to instead architect the system and its accompanying design process to be able to employ existing software safety approaches.
Koopman, Philip, Wagner, Michael
High Speed Optimal Yaw Stability of Tractor-Semitrailers with Active Trailer Steering2014-01-00934/1/2014
Most tractor-semitrailers are fitted with multi-axle trailers which cannot be actively steered, and such vehicles with an articulated configuration are inclined to exhibit instability such as trailer swing, jack-knifing, and rollover at high speed. Proposed in this paper is an optimal control of the yaw stability of tractor-semitrailers at high speed by applying an active trailer's steering angle. An optimal control algorithm is designed by employing a 3-DOF vehicle model in the yaw plane. The optimal linear quadratic regulator (LQR) approach is used with a cost function including sideslip angles, yaw rates of both tractor and trailer, and trailer's steering angle. The yaw stability at the high speed is also quantified by the dynamic performance measurements of lateral path deviation, hitch angle and rearward amplification (RA). The algorithm is evaluated by co-simulations using TruckSim and Matlab/Simulink softwares. Simulation results under double lane change maneuvers show that trailer swing and jack-knifing are suppressed with a small path-tracking error and it is concluded that the optimal control of semi-trailer steering can improve the yaw stability at high speed.
Lin, Xiaomin, Ding, Nenggen, Xu, Guoyan, Gao, Feng
Design and Evaluation of Emergency Driving Support Using Motor Driven Power Steering and Differential Braking on a Virtual Test Track2013-01-07264/8/2013
This paper presents the design and evaluation of an emergency driving support (EDS) algorithm. The control objective is to assist driver's collision avoidance maneuver to overcome a hazardous situation. To support driver, electrically controllable chassis components such as motor driven power steering (MDPS) and differential braking and surrounding sensor systems such as radar and camera are used. The EDS algorithm is designed for 3 parts: monitoring, decision, and control. The proposed EDS algorithm recognizes a collision danger using minimum lateral acceleration to avoid collision and time-to-collision (TTC) and driver's intention using sensor systems. The control mode is determined using the indices from monitoring process and the collision avoidance trajectory is derived with trapezoidal acceleration profile (TAP). Using the collision avoidance trajectory, the MDPS overlay torque is determined to support the driver's response of collision avoidance and differential braking is determined to maximize minimum vehicle-to-vehicle distance. Vehicle behavior and the interactions between the vehicle, the controller, and the human driver are investigated through a full-scale driving simulator on the virtual test track (VTT) which consists of a real-time vehicle simulator, a visual animation engine, a visual display, and suitable human-vehicle interfaces. The success rate of collision avoidance is investigated with test drivers and it has been increased for all test drivers.
Choi, Jaewoong, Yi, Kyongsu
Making the Best Out of Aerodynamics: Platoons2013-01-07674/8/2013
In a near future, platooning could become one of the most accessible strategies to help reduce the consumption of fuel and the emissions of toxic gases in the atmosphere, while also adding safety to the users and generating a better traffic flow. Nowadays, the auto industry and the governments are facing enormous challenges to reduce the amount of pollution in the atmosphere, to decrease the dependency on fossil fuels to generate energy and to increase safety on the highways. Several approaches are made, such as bio-fuels, hybrid and electric vehicles, engine downsizing and new modes of transportation that are more versatile and environmentally friendly. The downside is that most of this efforts are costly and require time and expense to be put to work. Platooning is an alternative option to minimize the impact to the environment profiting from the aerodynamic effects that occur naturally around a moving vehicle. The technology is available and can become production ready by the year 2020. This has been evidenced by the project SARTRE (Safe Road Trains for the Environment), from the 7th European Framework Program. SARTRE is a collaborative project of 7 companies from 4 different countries that set out to develop a platooning system using off-the-shelf technology and requiring no modification to the road infrastructure. To validate the previously mentioned benefits and to promote the adoption of this technology, the project partners developed a fully functional platoon prototype of 5 vehicles (2 trucks, 3 cars) and assessed its performance. Applus+ IDIADA, formerly the Instituto de Investigación Aplicada del Automóvil (Applied Automotive Research Institute) was the partner in charge of performing the fuel consumption evaluation and the system validation. For the fuel consumption evaluation, two approaches were considered. First, an aerodynamic simulation to know the approximate reduction in aerodynamic coefficients and forces and then a set of track tests to evaluate the real fuel consumption and to validate the virtual data. The outcome was a reduction in the fuel consumption for all the vehicles. To complement the results, some workshops were carried out with the relevant stakeholders, in order to obtain a set of proposals and requirements in technology state of the art and legislation changes required to adopt platooning on tomorrow's roads.
Davila, Arturo, Aramburu, Enric, Freixas, Alex
Functional Safety for Cooperative Systems2013-01-01974/8/2013
This paper investigates what challenges arise when extending the scope of functional safety for road vehicles to also include cooperative systems. Two generic alternatives are presented and compared with one another. The first alternative is to use a vehicle centric perspective as is the case in the traditional interpretation of ISO 26262 today. Here, an “item” (the top level system or systems for which functional safety is to be assured) is assumed to be confined to one vehicle. In the vehicle centric perspective inter-vehicle communication is not an architectural element and is therefore not a candidate for redundancy as part of the functional safety concept. The second alternative is to regard a cooperative system from a cooperative perspective. This implies that one item may span over several vehicles. The choice of perspective has implications in several ways. We investigate the implications for the cooperative item and in what ways the results may differ when going through the reference life cycle of ISO 26262. In particular we look at classification of hazardous events where severity is significantly higher since the cooperative system involves multiple rather than one single vehicle. We therefore suggest an additional severity class and as a consequence introduce a new automotive safety integrity level, ASIL E. The cooperative perspective includes the inter-vehicle communication as a candidate for redundancy. ASIL E can therefore be achieved using ASIL decomposition and the currently recommended product development phases for ASIL A to ASIL D. As an example for illustrating we use platooning.
Nilsson, Josef, Bergenhem, Carl, Jacobson, Jan, Johansson, Rolf, Vinter, Jonny
Numerical and Experimental Investigation on Vehicles in Platoon2012-01-01754/16/2012
Many studies have been carried out to optimize the aerodynamic performances of a single car or a single vehicle. In present days the traffic increases and sophisticated technologies are developing to guarantee the drivers safety, to minimize the fuel consumption and be more environmentally friendly. Within this research area a new technique that is being studied is Platooning: this means that different vehicles travel in a configuration that minimizes the aerodynamic drag and therefore the fuel consumption and the longitudinal space. In the present study platoons with different vehicles and configurations are taken into account, to analyze the influence of car shape and relative distance between the vehicles. The research has been carried out using CFD techniques to investigate the different flow fields around different platoons, while wind tunnel tests have been used to validate the results of the CFD simulations. The results show that vehicles with an estate back, like station wagons and sport utility vehicles, give a drag reduction up to more than 50% when running in platoon, while vehicles with a fast back, like sedan, that have better performances than sharp-back cars when running isolated, cannot reach the highest drag reduction obtained by the estate back cars. Trucks show negligible drag reduction when running in platoon with other cars, while the vehicles behind the truck experience a very low drag force. The distance between vehicles plays a very important role since smaller distances between the cars give lower aerodynamic forces, and may be minimized only by developing better technologies to control and maintain the position of the vehicle in the platoon without any risk for the passengers.
Schito, Paolo, braghin, Francesco
Platooning - Safe and Eco-Friendly Mobility2012-01-04884/16/2012
There are a variety of approaches and development projects centered on platooning. IDIADA is currently involved in the SARTRE Project, which is part of the Seventh Framework Programme for Research and Technological Development of the European Commission. This project has helped to establish some important concepts which show why platooning systems are a good way to increase safety and reduce pollution on tomorrow's highways. IDIADA's activities within the project have led to performing virtual testing of the fuel consumption that a platoon achieves due to better aerodynamics. Also, dynamic simulations of how a platoon would behave in certain normal and emergency situations have been made. The validation trials for the project will demonstrate the qualities and benefits of platooning as a safe and eco-friendly option for the mobility of tomorrow. This paper provides an overview of the benefits of platooning systems, in order to improve awareness and acceptance of platoons by the general public and relevant stakeholders. In general, platooning is safer than regular driving since vehicle control is purely autonomous, and the vehicle dynamics are optimized. This increases driving comfort, and improves traffic conditions and road usage. IDIADA has the task of validating the system and also evaluating fuel consumption. To validate the system, a full scheme of the most important configurations and use cases has been considered. These will include closed track and if possible open road assessment. For the fuel consumption evaluation, two approaches have been considered. Firstly, an aerodynamic simulation to know the approximate reduction in aerodynamic coefficient leading to lower engine output and hence fuel expenditure. Secondly, real fuel consumption testing during the trials to ensure that the virtual data is correct. The expected outcome is a reduction in the order of 15% fuel saving, and the results of the simulation will show the advantages of having smaller vehicles following a heavy vehicle.
Davila, Arturo, Nombela, Mario
Integrated Controller Design for Path Following in Autonomous Vehicles2011-01-10324/12/2011
This paper focuses on the problem of path following in autonomous vehicles. A solution to this problem is a strategy during which a feedback/feed-forward control law is considered to control the path of the vehicle. In this controller, feedback and feed-forward gains are calculated based on the vehicle dynamic and road-concerned variables. A linear quadratic regulator (LQR) technique is applied to a three-degree of-freedom (DOF) linear vehicle model and three types of controllers are designed with the use of active front steering (AFS), four-wheel steering (4WS) and combination of an AFS with a direct yaw moment control (DYC) systems. A comparison is made about the performance and the efficacy among the different controllers in two different maneuvers. An 8-DOF nonlinear vehicle model is used for simulation purposes. It is concluded that 4WS system shows better potential for path following control of an autonomous vehicle.
Mashadi, Behrooz, Ahmadizadeh, Pouyan, Majidi, Majid
Investigating Control of Vision Based Autonomous Navigation in the Image Plane2010-01-200510/5/2010
This paper develops a novel integrated navigational system for autonomous vehicle motion control. Vehicle control is defined in terms of the required vehicle steering angle, rate of steering change and speed. This paper proposes predictive control in the image plane. The proposed predictive control enables the navigation on the desired path, reduces the control complexity and increases the application space for multiple types of vehicles. The paper investigates vehicle control stability; especially in scenarios containing varying curvature turns and variable vehicle speeds. The primary emphasis of this paper is on vehicle control rather than scene analysis. To demonstrate the proposed vehicle control, a computer vision based multi-lane detection algorithm is introduced. The control strategy is applied such that the vehicle maintains position within the lane boundaries. Stability of the control algorithm is tested and demonstrated in multiple scenarios using 3-D simulation results.
Gupta, Rachana Ashok, Snyder, Wesley, Pitts, W Shepherd
Roll your own10OFHD1001_0410/1/2010
Technological advances into autonomously controlled vehicles facilitate road trains and troop support. Platooning of trucks and cars has been a long-sought-after goal of engineers who believe that the autonomous control of vehicles can save lives and fuel. While the technology of platooning or road trains is well known and studied, it has not transitioned beyond the test track because of the cost to install the necessary sensors and other infrastructure directly onto motorways. To surmount that problem, engineers are taking a different tack. Instead of focusing on the highway, engineers are now instead zeroing in on the vehicles. Some believe it to be a much more cost-effective solution that provides most of the desired benefits of platooning.
Rosenberg, Barry
An Adaptive PID Controller with Neural Network Self-Tuning for Vehicle Lane Keeping System2009-01-14824/20/2009
Vehicle lane keeping system is becoming a new research focus of drive assistant system except adaptive cruise control system. As we all known, vehicle lateral dynamics show strong nonlinear and time-varying with the variety of longitudinal velocity, especially tire’s mechanics characteristic will change from linear characteristic under low speed to strong nonlinear under high speed. For this reason, the traditional PID controller and even self-tuning PID controller, which need to know a precise vehicle lateral dynamics model to adjust the control parameter, are too difficult to get enough accuracy and the ideal control quality. Based on neural network’s ability of self-learning, adaptive and approximate to any nonlinear function, an adaptive PID control algorithm with BP neural network self-tuning online was proposed for vehicle lane keeping. The results of the simulation running in different lane curvature under different velocities show this algorithm can effectively control vehicle to keep the target trajectory and has good robustness and adaptability for vehicle lateral nonlinear dynamics during the changing of velocity and path curvature.
Zhenhai, Gao, Bing, Wang
Network Keeps Line of Communication Open to ConvoysTBMG-47672/1/2008
An airman riding as part of a convoy escort team in Iraq keys his radio microphone to check in with his base, and hears nothing but dead air. The U.S. Air Force is leading a joint implementation of a Radio over Internet Protocol Routed Network (RIPRnet) communication system that prevents such a scenario. RIPRnet ties convoy radios in with Internet-based technology to extend their range, providing robust, clear, reliable, and secure communications for soldiers, sailors, airmen, and Marines who are out on the roads of Iraq.
Vehicle Lane Keeping Single Neural Network Control with Driver Behavior2004-01-210812/30/2004
According to the nonlinear and parameter time-varying characteristics of vehicle lateral dynamics, a novel algorithm of vehicle lateral adaptive PID control with single neuron network was proposed. Based on self-learning and adaptive ability of single neural network, the parameters of vehicle lateral PID controller were self-tuning on-line and the problem of large computation time brought by traditional adaptive PID control was avoided, in which the parameters of reference model of the controlled system must be identified with large calculation burden. The results of the simulation and field experiment show this algorithm can effectively control vehicle to keep and track the pre-given target trajectory, and has good robustness and adaptability for vehicle lateral nonlinear dynamics.
Zhenhai, Gao, Bo, Zhu
Information Report on Its Terms and DefinitionsJ1761_200304 (Current)5/5/2003
This SAE Information Report defines consistent terminology for Intelligent Transportation Systems (ITS). The list of defined terms is followed by a list of acronyms. Certain criteria were used in selecting terms for this document. Terms in widespread use in the ITS community covering significant services, technologies and applications were chosen. This document focuses on terms used in the United States, although it covers aspects of worldwide ITS deployment. This document focuses on automotive applications, which include interfaces to and from the automobile. Later version may include a wider scope. ITS includes a wide array of services, applications, and technologies. The Department of Transportation ITS National program Plan divides ITS into 29 User Services, which are included in this glossary. The User Services range from pre-Trip Travel Planning to Fully Automated Highway Systems. Other organizations and experts have divided ITS into a smaller set of more general application types types, such as Traveller Information or Advanced public Transportation. This document, in keeping with the general purose of SAE, focuses primarily on services, applications, and technologies in or on a vehicle. The field of ITS includes applications, such as communications between traffic management centers, which do not directly interface with the vehicle and therefore are not included in this document. products and commercial systems were excluded. Terms which are used in the ITS community, but are not unique to ITS, such as "hard disk" or "half duplex" were not included. In the interests of keeping the document current, specific project names were not included. (Descriptions of FHWA projects are published annually by the FHWA, and are available from that agency.) Terms of interest only to narrow technical subfields were not included. Names of local agencies were not included. The overall goal of this document is to provide the reader with basic information on terms relevant to ITS, including relevant technologies, standards, organizations, applications, and acronyms. Definitions are listed alphabetically in Section 3, followed by acronyms in Section 4.
Motor Vehicle Council
Control Concept for Plants with Model Uncertainties2002-01-01413/4/2002
In this paper a robust controller design task for longitudinal and lateral dynamic of non-identical autonomous road vehicles is considered. In order to use identical controllers for different vehicles the varying parameters are regarded as unstructured model uncertainties. How unstructured model uncertainties are described and how they are taken into account during the controller design process is shortly presented. The used control concept for plants with model uncertainties in form of a standard H∞ - control task is described. The resulting longitudinal and lateral control laws for non-identical vehicles are discussed concerning the varying vehicle parameters. The first practical results with respectively one control law for longitudinal and lateral dynamic of non-identical autonomous vehicles are presented. It is shown that through the appropriate choice of design parameters, varying vehicle dynamics can be taken into account without substantial losses regarding accuracy and dynamics.
Becker, Uwe, Ganzelmeier, Lothar, Helbig, Jörg, Schnieder, Eckehard
Robust Controller Design for Automatic Steering of Vehicles2001-01-332310/1/2001
This paper deals with the controller design problem for automatic steering of vehicles. The nonlinear and uncertain lateral motion model of the vehicle is considered. The sliding mode controllers, with LQ optimal sliding surface and with guaranteed cost sliding surface, are proposed such that the lateral velocity and the yaw rate are stabilized. The robustness of the controllers is verified by comparing the simulation results.
Zhang, J. R., Rachid, A., Xu, S. J.
Implementation of Human-Like Driving for Autonomous Vehicle2001-01-08053/5/2001
The sensing and control scheme of autonomous vehicle, learned from the human driving is considered. To implement human driving manners, we imitate “characteristics of the human eye” and “human driving rules extracted from driver’s feeling”. Following two approaches are considered; 1. Reduction of image processing load of FFT picture compression technique by the manner of human eye sensitivity. 2. Simplified driving rules extracted from the human driving manner correspond to the energy minimum optimal control.
Kawashima, Aoi, Kobayashi, Kazuyuki, Watanabe, Kajiro
Lateral and longitudinal control algorithms for visual platooning of autonomous vehicles2000-05-03736/12/2000
This paper describes lateral and longitudinal control algorithms when vision-based autonomous vehicles form a platoon by detecting a preceding one with a machine vision system. The visual platooning is an extension of the longitudinal control in ACC, and is featured by both the lateral and longitudinal control of following vehicles. The lateral control algorithm for a following vehicle uses a target point positioned on a preceding vehicle and captured in the field of view. When the target point is appropriately positioned, a following vehicle is guided as if it chased the target. The origin of the lateral control algorithm is an algorithm for an automated vehicle with a localization function including the dead reckoning, named the target point following algorithm. The lateral control in the visual platooning consists of the steps of target point detection, path generation, and lateral control calculation. A coefficient of a cubic curve that is defined with a target point and the current position of the following vehicle provides the steering angle. The path for the following vehicle is not necessarily the same as the preceding one, because the target can be positioned with freedom to some extent. The longitudinal control algorithm of a vehicle is determined with a distance between a preceding vehicle and a following one. The vision system or the laser radar on the following vehicle measures the distance to the preceding vehicle. The speed control of the following vehicle is calculated with the distances measured during the previous control cycle and the present cycle, the present speed of the vehicle, the reference distances and the duration of a control cycle. The feasibility of the algorithms is shown by simulation studies and experiments with indoor mobile robots and automated passenger cars on a test track.
Kato, Shin, Tsugawa, Sadayuki
A multi-vehicle platoon simulator2000-05-03636/12/2000
This paper presents a real-time vehicle powertrain simulator and a pseudo real-time multi-vehicle platoon simulator. The developed powertrain simulator simulates the complex vehicle powertrain dynamics, including detailed shifting transients, in the PC environment in real time. The driver input is provided using a throttle pedal interfaced using the game port. The processor requirements vary depending on the simulation options selected. In the basic version, this requirement is only approximately 20% of a 300 MHz Pentium II- based PC. For multi-vehicle platoon simulation, a network configuration is proposed. It links several individual powertrain simulations via the TCP/IP network. This network platoon simulation is also linked to a server which graphically displays the multi-vehicle platoon operation. In this network configuration, due to a random delay in data transfer the simulation time kernel is made to lag real time. However, in the platoon mode, all inputs and driving scenarios are generated before the start of simulation, and, therefore, after the initial delay, the simulation and displays stop in real time. The network simulator can be used to study the overall platoon operation and human interface issues, as well as to develop platoon controllers.
Kim, Kwangsoo, Cho, Dong-il
The Ohio State University Automated Highway System Demonstration Vehicle9808552/23/1998
The Ohio State University Center for Intelligent Transportation Research (CITR) has developed three automated vehicles demonstrating advanced cruise control, automated steering control for lane keeping, and autonomous behavior including automated stopping and lane changes in reaction to other vehicles. Various sensors were used, including a radar reflective stripe system and a vision based system for lane position sensing, a radar system and a scanning laser rangefinding system for the detection of objects ahead of the vehicle, and various supporting sensors including side looking radars and an angular rate gyroscope. These vehicles were demonstrated at the National Automated Highway System Consortium (NAHSC) 1997 Technical Feasibility Demonstration in a scenario involving mixed autonomous and manually driven vehicles. This paper describes the demonstration, the vehicle sensing, control, and computational hardware, and the vehicle control software.
Redmill, Keith A., Özgüner, Ümit
A University/Industry/Government Test Program to Evaluate the Durability of Trucks and Pavement Surfaces97326611/17/1997
A new oval test track will be designed, constructed and operated in a manner that will successfully pull-together representatives from virtually all of the key interests in dealing with the challenging issues of highway pavement and truck durability. With construction scheduled to begin in the Summer of 1998 and completion scheduled for late 1998 or early 1999, the mission and commitment for this venture is to pull-together the people from several state DOTs, respective universities, and, of vital importance, the truck manufacturing industry. Results from these tests, over a period of a few years, will provide answers that not only greatly improve performance of hot mix asphalt pavements in all state DOTs, but also efficiently and productively address issues of durability and wear performance of medium / heavy duty trucks and key components. Key features of this track will be the placement of test sections of asphalt pavement to be provided by the various states, utilizing the respective local materials. Data will be gathered on a regular basis during traffic so that detailed analysis of the test results can be performed. Test results from the track will provide information such as pavement rutting, pavement roughness and other aspects relating to loss of performance. This information will be used as a basis of correlation and validation of other tools and methodologies used to measure and improve the performance of hot mix asphalt. Moreover, it is anticipated that this facility will play a major role in evaluating the durability and wear performance of medium / heavy duty truck systems and their respective components industry. Utilizing the TeamTest® process, highly controlled precision, high mileage durability tests will be run with accuracies and projectabilities rivaling that of proving ground tests. Yet these tests will be designed and constructed in a manner such that the economies will rival that of traditional fleet tests. Although this facility will obviously exist in one location and climatic condition, together with one type of highway terrain, it is anticipated that these tests will combine with other climatic venues and road types to round-out the overall vehicle durability testing program.
Woehrle, William J., Pajtas, Scott R.
Fitting Into the Process: Institutional Issues Affecting Development and Deployment of Automated Highway Systems9726568/6/1997
A research effort in response to institutional issues identified by the National Automated Highway System Consortium -- particularly the steps necessary to integrate Automated Highway Systems (AHS) into the transportation planning and decision-making process -- revealed not only the concerns to be addressed and barriers to be overcome in developing and deploying AHS, but also issues and barriers transportation officials at every level already confront in the current, and rapidly changing, legislative, funding and technological environment. The findings also suggest possible institutional blocks toward intelligent transportation systems in general and AHS in particular.
Chang, John, Hanson, Matt, Lubliner, Alan
Reading the Roads: A New Technique for Vehicle Location9617048/1/1996
This paper proposes a new approach for vehicle location for Intelligent Transportation Systems, the Visual Protocol System (VPS). VPS has three key system components a protocol for the presentation and interpretation of information within a visual scene, standards for roadway labels, and an in-vehicle system composed of hardware and software to implement the visual protocol and feed information to an in-vehicle navigation system. This concept has an advantage of low cost when compared with active roadside beacons, and a very great advantage of multiple use potential and expandability when compared with single-use GPS technology.
Goodwin, Cecil W. H
Information Report on Its Terms and DefinitionsJ1761_199512 (Historical)12/1/1995
This SAE Information Report defines consistent terminology for Intelligent Transportation Systems (ITS). The list of defined terms is followed by a list of acronyms. Certain criteria were used in selecting terms for this document. Terms in widespread use in the ITS community covering significant services, technologies and applications were chosen. This document focuses on terms used in the United States, although it covers aspects of worldwide ITS deployment. This document focuses on automotive applications, which include interfaces to and from the automobile. Later version may include a wider scope. ITS includes a wide array of services, applications, and technologies. The Department of Transportation ITS National program Plan divides ITS into 29 User Services, which are included in this glossary. The User Services range from pre-Trip Travel Planning to Fully Automated Highway Systems. Other organizations and experts have divided ITS into a smaller set of more general application types types, such as Traveller Information or Advanced public Transportation. This document, in keeping with the general purose of SAE, focuses primarily on services, applications, and technologies in or on a vehicle. The field of ITS includes applications, such as communications between traffic management centers, which do not directly interface with the vehicle and therefore are not included in this document. products and commercial systems were excluded. Terms which are used in the ITS community, but are not unique to ITS, such as "hard disk" or "half duplex" were not included. In the interests of keeping the document current, specific project names were not included. (Descriptions of FHWA projects are published annually by the FHWA, and are available from that agency.) Terms of interest only to narrow technical subfields were not included. Names of local agencies were not included. The overall goal of this document is to provide the reader with basic information on terms relevant to ITS, including relevant technologies, standards, organizations, applications, and acronyms. Definitions are listed alphabetically in Section 3, followed by acronyms in Section 4.
ITS Council
An Automated Highway System Employing a “Smart Highway” Infrastructure and “Dumb Cars”9410033/1/1994
The Automated Highway System described here is a transponder (or beacon) based system.(1) Much of the Automated Highway System community has taken the approach of making “Smart Cars” with all forms of complex sensors onboard the vehicle. This system has taken all these complex sensors off the vehicle and has only left the actuators and communications necessary to control the vehicle remotely on the vehicle. In addition, this system has eliminated the need for complex roadside sensors by using cooperation between the vehicle and roadside infrastructure.
James, Robert D.
The Use of Variable Message Signs in Advanced Traffic Management Systems: An Example of Human Factors Considerations in IVHS93192511/1/1993
“Human Factors” in highway transportation refers to the capabilities and limitations of the driver. The interface between the human being and the machines he/she uses must not overtax human capability. Drivers cannot be presented with situations that exceed their perception-reaction time, that require supernormal visual acuity, that present them with an excessive workload, or that distract them during the driving task. Any of these situations - and others - can create unsafe situations and the potential for accidents. Throughout the field of Intelligent Vehicle/Highway Systems (IVHS) there is a major need to consider human factors. The particular human factors requirements vary from application to application and cover a wide range of human characteristics and capability limits. This paper is intended to focus on one example of the major importance of human factors considerations in the development of IVHS hardware. The example is the use of variable message signs in Advanced Traffic Management Systems. This example serves to demonstrate that human factors must be very carefully considered throughout the development of IVHS.
Upchurch, Jonathan, Armstrong, Jeffrey D., Thomas, Gary B., Baaj, M. Hadi
538B-1 Hand-Held MicrophoneARINC538B-1 (Current)2/1/1983
This standard describes a hand-held microphone for use with airborne radio installations.
Airlines Electronic Engineering Committee
Evaluation of the Operating Conditions on a Detroit Dual-Mode Vehicle Network7202722/1/1972
The success of urban automated vehicle networks will depend very strongly on the availability of an efficient traffic management strategy for such networks. Previous papers have discussed an automated network traffic management strategy, known as cycle preprogramming, which appears potentially capable of accomplishing the necessary coordination of vehicle flows in a large automated network. This paper develops a methodology by means of which the efficiency of the cycle preprogramming strategy in managing traffic in a large network can be studied. The methodology is then used to analyze the operating conditions on an example automated network for the Detroit area.
Stefanek, Robert G., Kiselewich, Stephen J.
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