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

This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…

In this paper, a multi-lane multi-population microscopic model, which presents stop and go waves, is proposed to simulate traffic on a ring-road. Vehicles are divided between human-driven and autonomous vehicles (AV). Control strategies are…

This paper develops a computational framework based on a car-following model to study traffic instability and lane changes. Building upon Newell's classical first-order car-following model, we show that, both analytically and numerically,…

In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruise Control. A control law is proposed with the design goal of…

In this paper, we investigate the coordination of vehicle maneuvers in mixed-traffic corridors where connected and automated vehicles, human-driven vehicles, and buses interact under dedicated bus lane operations. We develop a segment-based…

Simulation has long been an essential part of testing autonomous driving systems, but only recently has simulation been useful for building and training self-driving vehicles. Vehicle behavioural models are necessary to simulate the…

A quantitative understanding of dynamic lane-changing (LC) interaction patterns is indispensable for improving the decision-making of autonomous vehicles, especially in mixed traffic with human-driven vehicles. This paper develops a novel…

In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…

Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…

Microscopic traffic simulation plays a crucial role in transportation engineering by providing insights into individual vehicle behavior and overall traffic flow. However, creating a realistic simulator that accurately replicates human…

Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…

A driving algorithm that aligns with good human driving practices, or at the very least collaborates effectively with human drivers, is crucial for developing safe and efficient autonomous vehicles. In practice, two main approaches are…

Lane changing is a complex decision-making problem for Connected and Autonomous Vehicles (CAVs) as it requires balancing traffic efficiency with safety. Although traffic efficiency can be improved by using vehicular communication for…

As autonomous systems become integral to various industries, effective strategies for fault handling are essential to ensure reliability and efficiency. Transfer of Control (ToC), a traditional approach for interrupting automated processes…

We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…

Urban traffic congestion, particularly at intersections, significantly affects travel time, fuel consumption, and emissions. Traditional fixed-time signal control systems often lack the adaptability to effectively manage dynamic traffic…

To help mitigate road congestion caused by the unrelenting growth of traffic demand, many transportation authorities have implemented managed lane policies, which restrict certain freeway lanes to certain types of vehicles. It was…

Lane changing dynamics are an important part of traffic microsimulation and are vital for modeling weaving sections and merge bottlenecks. However, there is often much more emphasis placed on car following and gap acceptance models, whereas…

One of the bottlenecks of automated driving technologies is safe and socially acceptable interactions with human-driven vehicles, for example during merging. Driver models that provide accurate predictions of joint and individual driver…

Trajectory planning in urban automated driving is challenging because of the high uncertainty resulting from the unknown future motion of other traffic participants. Robust approaches guarantee safety, but tend to result in overly…