A Learning-based Stochastic MPC Design for Cooperative Adaptive Cruise Control to Handle Interfering Vehicles

Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application, provides drivers with extra benefits such as traffic throughput maximization and collision avoidance. CACC systems must be designed in a way that are sufficiently robust against all special maneuvers such as cutting-into the CACC platoons by interfering vehicles or hard braking by leading cars. To address this problem, a Neural- Network (NN)-based cut-in detection and trajectory prediction scheme is proposed in the first part of this paper. Next, a probabilistic framework is developed in which the cut-in probability is calculated based on the output of the mentioned cut-in prediction block. Finally, a specific Stochastic Model Predictive Controller (SMPC) is designed which incorporates this cut-in probability to enhance its reaction against the detected dangerous cut-in maneuver. The overall system is implemented and its performance is evaluated using realistic driving scenarios from Safety Pilot Model Deployment (SPMD).Comment: 10 pages, Submitted as a journal paper at T-I

NASA Automated Rendezvous and Capture Review. Executive summary

In support of the Cargo Transfer Vehicle (CTV) Definition Studies in FY-92, the Advanced Program Development division of the Office of Space Flight at NASA Headquarters conducted an evaluation and review of the United States capabilities and state-of-the-art in Automated Rendezvous and Capture (AR&C). This review was held in Williamsburg, Virginia on 19-21 Nov. 1991 and included over 120 attendees from U.S. government organizations, industries, and universities. One hundred abstracts were submitted to the organizing committee for consideration. Forty-two were selected for presentation. The review was structured to include five technical sessions. Forty-two papers addressed topics in the five categories below: (1) hardware systems and components; (2) software systems; (3) integrated systems; (4) operations; and (5) supporting infrastructure

Advanced avionics concepts: Autonomous spacecraft control

A large increase in space operations activities is expected because of Space Station Freedom (SSF) and long range Lunar base missions and Mars exploration. Space operations will also increase as a result of space commercialization (especially the increase in satellite networks). It is anticipated that the level of satellite servicing operations will grow tenfold from the current level within the next 20 years. This growth can be sustained only if the cost effectiveness of space operations is improved. Cost effectiveness is operational efficiency with proper effectiveness. A concept is presented of advanced avionics, autonomous spacecraft control, that will enable the desired growth, as well as maintain the cost effectiveness (operational efficiency) in satellite servicing operations. The concept of advanced avionics that allows autonomous spacecraft control is described along with a brief description of each component. Some of the benefits of autonomous operations are also described. A technology utilization breakdown is provided in terms of applications

Development and verification of cooperative adaptive cruise control via LTE-V

This is the author accepted manuscript. The final version is available from the publisher via the DOI in this recordIn this paper, we present a testbed platform for realizing cooperative adaptive cruise control (CACC) enabled by LTE-V (LTE-vehicle). The platform is developed on a platoon of vehicles, each of which is equipped with a suite of on-board sensing and computing devices for environment perception and automated vehicle control, as well as an LTE-V transceiver for high-performance vehicle-to-vehicle (V2V) communication. The hardware architecture and software architecture, especially the perception and control methods, of the platform are described. Field experiments in different road conditions are conducted to verify the feasibility of our platform. The results also show the potential of V2V communications via LTE-V in terms of improving the sensing capability of individual vehicle’s on-board sensors.National Natural Science Foundation of ChinaFundamental Research Funds for the Central UniversitiesShanghai Yangfan ProgramEuropean Union Horizon 202