相关论文: Shared Control for Vehicle Lane-Changing with Unce…

The use of partially automated driving systems raises concerns about potential responsibility issues, posing risk to the system safety, acceptance, and adoption of these technologies. The concept of meaningful human control has emerged in…

Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…

We study a hierarchy of models based on kinetic equations for the descriptions of traffic flow in presence of autonomous and human--driven vehicles. The autonomous cars considered in this paper are thought of as vehicles endowed with some…

Vehicle-to-vehicle communications can change the driving behavior of drivers significantly by providing them rich information on downstream traffic flow conditions. This study seeks to model the varying car-following behaviors involving…

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs). We develop a cooperation compliance control framework to…

This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…

Switching communication topologies can cause instability in vehicle platoons, as vehicle information may be lost during the dynamic switching process. This highlights the need to design a controller capable of maintaining the stability of…

To enable autonomous driving in interactive traffic scenarios, various model predictive control (MPC) formulations have been proposed, each employing different interaction models. While higher-fidelity models enable more intelligent…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

A rather simple car driving simulator was created based on the available open source engine TORCS and used to analyze the basic features of human behavior in car driving within the car-following setups. Eight subjects with different skill…

In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…

Aiming for a society where humans and automated vehicles can coexist cooperatively, understanding what constitutes cooperative and trustworthy behaviour is essential to designing automated vehicle controllers that enable the integration of…

Autonomous vehicles use a variety of sensors and machine-learned models to predict the behavior of surrounding road users. Most of the machine-learned models in the literature focus on quantitative error metrics like the root mean square…

In this paper, we propose a kinetic model of traffic flow with uncertain binary interactions, which explains the scattering of the fundamental diagram in terms of the macroscopic variability of aggregate quantities, such as the mean speed…

This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…

Connectivity technology has shown great potentials in improving the safety and efficiency of transportation systems by providing information beyond the perception and prediction capabilities of individual vehicles. However, it is expected…

Traffic flow oscillations, including traffic waves, are a common yet incompletely understood feature of congested traffic. Possible mechanisms include traffic flow instabilities, indifference regions or finite human perception thresholds…

Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…