相关论文: How human drivers control their vehicle
Motivated by the applications, a class of optimal control problems is investigated, where the goal is to influence the behavior of a given population through another controlled one interacting with the first. Diffusive terms accounting for…
Many systems such as autonomous vehicles and quadrotors are subject to parametric uncertainties and external disturbances. These uncertainties can lead to undesired performance degradation and safety issues. Therefore, it is important to…
We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature, bank and slope. We show that the proposed modeling approach…
Traffic on a circular road is described by dynamic programming equations associated to optimal control problems. By solving the equations analytically, we derive the relation between the average car density and the average car flow, known…
As autonomous vehicles have benefited the society, understanding the dynamic change of humans' trust during human-autonomous vehicle interaction can help to improve the safety and performance of autonomous driving. We designed and conducted…
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…
Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…
With recent advances in learning algorithms and hardware development, autonomous cars have shown promise when operating in structured environments under good driving conditions. However, for complex, cluttered and unseen environments with…
Advancements in technology are steering attention toward creating comfortable and acceptable driving characteristics in autonomous vehicles. Ensuring a safe and comfortable ride experience is vital for the widespread adoption of autonomous…
This paper analyzes the car following behavioral stochasticity based on two sets of field experimental trajectory data by measuring the wave travel time series of vehicle n. The analysis shows that (i) No matter the speed of leading vehicle…
Traffic waves are phenomena that emerge when the vehicular density exceeds a critical threshold. Considering the presence of increasingly automated vehicles in the traffic stream, a number of research activities have focused on the…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing…
We use a very simple description of human driving behavior to simulate traffic. The regime of maximum vehicle flow in a closed system shows near-critical behavior, and as a result a sharp decrease of the predictability of travel time. Since…
Car traffic in urban systems has been studied intensely in past decades but models are either limited to a specific aspect of traffic or applied to a specific region. Despite the importance and urgency of the problem we have a poor…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Motor control is a fundamental process that underlies all voluntary behavioral responses. Several different theories based on different principles (task dynamics, equilibrium-point theory, passive-motion paradigm, active inference, optimal…
Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…
This paper has incorporated the stochasticity into the Newell car following model. Three stochastic driving factors have been considered: (i) Driver's acceleration is bounded. (ii) Driver's deceleration includes stochastic component, which…
We introduce a simple lattice model of traffic flow in a city where drivers optimize their route-selection in time in order to avoid traffic jams, and study its phase structure as a function of the density of vehicles and of the drivers'…