1,325 research outputs found
Design and validation of decision and control systems in automated driving
xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo
Design and validation of decision and control systems in automated driving
xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo
A Review of Near-Collision Driver Behavior Models
Objective: This article provides a review of recent models of driver behavior in on-road collision situations.
Background: In efforts to improve traffic safety, computer simulation of accident situations holds promise as a valuable tool, for both academia and industry. However, to ensure the validity of simulations, models are needed that accurately capture near-crash driver behavior, as observed in real traffic or driving experiments.<p>
Method: Scientific articles were identified by a systematic approach, including extensive database searches. Criteria for inclusion were defined and applied, including the requirement that models should have been previously applied to simulate on-road collision avoidance behavior. Several selected models were implemented and tested in selected scenarios.<p>
Results: The reviewed articles were grouped according to a rough taxonomy based on main emphasis, namely avoidance by braking, avoidance by steering, avoidance by a combination of braking and steering, effects of driver states and characteristics on avoidance, and simulation platforms.<p>
Conclusion: A large number of near-collision driver behavior models have been proposed. Validation using human driving data has often been limited, but exceptions exist. The research field appears fragmented, but simulation-based comparison indicates that there may be more similarity between models than what is apparent from the model equations. Further comparison of models is recommended.<p>
Application: This review provides traffic safety researchers with an overview of the field of driver models for collision situations. Specifically, researchers aiming to develop simulations of on-road collision accident situations can use this review to find suitable starting points for their work
Simulating the Impact of Traffic Calming Strategies
This study assessed the impact of traffic calming measures to the speed, travel times and capacity of residential roadways. The study focused on two types of speed tables, speed humps and a raised crosswalk. A moving test vehicle equipped with GPS receivers that allowed calculation of speeds and determination of speed profiles at 1s intervals were used. Multi-regime model was used to provide the best fit using steady state equations; hence the corresponding speed-flow relationships were established for different calming scenarios. It was found that capacities of residential roadway segments due to presence of calming features ranged from 640 to 730 vph. However, the capacity varied with the spacing of the calming features in which spacing speed tables at 1050 ft apart caused a 23% reduction in capacity while 350-ft spacing reduced capacity by 32%. Analysis showed a linear decrease of capacity of approximately 20 vphpl, 37 vphpl and 34 vphpl when 17 ft wide speed tables were spaced at 350 ft, 700 ft, and 1050 ft apart respectively. For speed hump calming features, spacing humps at 350 ft reduced capacity by about 33% while a 700 ft spacing reduced capacity by 30%. The study concludes that speed tables are slightly better than speed humps in terms of preserving the roadway capacity. Also, traffic calming measures significantly reduce the speeds of vehicles, and it is best to keep spacing of 630 ft or less to achieve desirable crossing speeds of less or equal to 15 mph especially in a street with schools nearby. A microscopic simulation model was developed to replicate the driving behavior of traffic on urban road diets roads to analyze the influence of bus stops on traffic flow and safety. The impacts of safety were assessed using surrogate measures of safety (SSAM). The study found that presence of a bus stops for 10, 20 and 30 s dwell times have almost 9.5%, 12%, and 20% effect on traffic speed reductions when 300 veh/hr flow is considered. A comparison of reduction in speed of traffic on an 11 ft wide road lane of a road diet due to curbside stops and bus bays for a mean of 30s with a standard deviation of 5s dwell time case was conducted. Results showed that a bus stop bay with the stated bus dwell time causes an approximate 8% speed reduction to traffic at a flow level of about 1400 vph. Analysis of the trajectories from bust stop locations showed that at 0, 25, 50, 75, 100, 125, 150, and 175 feet from the intersection the number of conflicts is affected by the presence and location of a curbside stop on a segment with a road diet
An Intelligent Predictive Algorithm for the Anti-Rollover Prevention of Heavy Vehicles for Off-Road Applications
Rollover detection and prevention are among the most critical aspects affecting the stability and safety assessment of heavy vehicles, especially for off-road driving applications. This topic has been studied in the past and analyzed in depth in terms of vehicle modelling and control algorithms design able to prevent the rollover risk. However, it still represents a serious problem for automotive carmakers due to the huge counts among the main causes for traffic accidents. The risk also becomes more challenging to predict for off-road heavy vehicles, for which the incipient rollover might be triggered by external factors, i.e., road irregularities, bank angles as well as by aggressive input from the driver. The recent advances in road profile measurement and estimation systems make road-preview-based algorithms a viable solution for the rollover detection. This paper describes a model-based formulation to analytically evaluate the load transfer dynamics and its variation due to the presence of road perturbations, i.e., road bank angle and irregularities. An algorithm to
detect and predict the rollover risk for heavy vehicles is also presented, even in presence of irregular road profiles, with the calculation of the ISO-LTR Predictive Time through the Phase-Plane analysis. Furthermore, the artificial intelligence techniques, based on the recurrent neural network approach, is also presented as a preliminary solution for a realistic implementation of the methodology. The paper finally assess the efficacy of the proposed rollover predictive algorithm by providing numerical results from the simulation of the most severe maneuvers in realistic off-road driving scenarios, also
demonstrating its promising predictive capabilities
Safety Evaluation of Turbo-Roundabouts with and without Internal Traffic Separations Considering Autonomous Vehicles Operation
The paper presents a microsimulation approach for assessing the safety performance of turbo-roundabouts where Cooperative Autonomous Vehicles “CAVs” have been introduced into the traffic mix alongside conventional vehicles “CVs”. Based on the analysis of vehicle trajectories from VISSIM and subsequent analysis of traffic conflicts through the Surrogate Safety Assessment Model (SSAM), the research aims to evaluate the safety benefits of turbo-roundabouts where the lanes are physically separated by raised curbs, compared to roundabouts without such curbs. The paper will then describe the methodological path followed to build VISSIM models of turbo-roundabouts with and without raised curbs in order to calibrate the simulation models and estimate the potential conflicts when a higher percentage of CAVs are introduced into the traffic mix. A criterion has been also proposed for setting properly the principal SSAM filters. The results confirmed both higher safety levels for turbo-roundabouts equipped with raised lane dividers compared to turbo-roundabout solutions without curbs, and better safety conditions under the traffic mix of CVs and CAVs. Therefore, it follows that, in absence of crash data including CAVs, the surrogate measures of safety are the only approach in which the safety performance of any roundabout or road entity can be evaluated
Stability analysis of partially filled tanker trucks using a finite element modeling approach
The point of rollover for a tanker truck carrying fluid cargo is of great importance due to the catastrophic nature of accidents involving such vehicles. Payloads are often toxic or flammable, thus, predicting the threshold of rollover effectively is of great value. Furthermore, the liquid load shift caused by fluid slosh amplifies the propensity of these vehicles to rollover.;This research presents an approach for determining the threshold of rollover stability of a specific tanker truck by using finite element analysis methods, specifically the software program ANSYS. This approach allows the consideration of many variables which had not been fully considered in the past, including nonlinear spring behavior and tank flexibility. The program uses simple mechanical pendulums to simulate the fluid sloshing affects, beam elements to match the torsional and bending stiffness of the tank, and spring damper elements to represent the suspension.;The finite element model of the tanker truck is validated using data taken by the U.S. Army Aberdeen Test Center (ATC) on a M916AI tractor/Etnyre model 60PRS 6000 gallon trailer combination. ATC tested the actual tanker truck both statically and dynamically to provide data as inputs for the tanker truck model. The outputs from the computer model and the real truck are shown to corroborate, thus validating the method of analysis. The approach is then expanded to include a double lane change maneuver derived from a cycloidal path.;The main conclusions are drawn in two forms. First, the model is shown to corroborate with the experimental data taken from the actual tanker truck. Secondly, a series of both actual and hypothetical simulations are made to determine the critical velocity for the given maneuver. These are presented for a constant radius turn and for double lane change maneuvers
AN INTEGRATED SYSTEMS ENGINEERING METHODOLOGY FOR DESIGN OF VEHICLE HANDLING DYNAMICS
The primary objective of this research is to develop an integrated system engineering methodology for the conceptual design of vehicle handling dynamics early on in the product development process. A systems engineering-based simulation framework is developed that connects subjective, customer-relevant handling expectations and manufacturers\u27 brand attributes to higher-level objective vehicle engineering targets and consequently breaks these targets down into subsystem-level requirements and component-level design specifications. Such an integrated systems engineering approach will guide the engineering development process and provide insight into the compromises involved in the vehicle-handling layout, ultimately saving product development time and costs and helping to achieve a higher level of product maturity early on in the design phase. The proposed simulation-based design methodology for the conceptual design of vehicle handling characteristics is implemented using decomposition-based Analytical Target Cascading (ATC) techniques and evolutionary, multi-objective optimization algorithms coupled within the systems engineering framework. The framework is utilized in a two-layer optimization schedule. The first layer is used to derive subsystem-level requirements from overall vehicle-level targets. These subsystem-level requirements are passed on as targets to the second layer of optimization, and the second layer derives component-level specifications from the subsystem-level requirements obtained from the first step. The second layer optimization utilizes component-level design variables and analysis models to minimize the difference between the targets transferred from the vehicle level and responses generated from the component-level analysis. An iterative loop is set up with an objective to minimize the target/response consistency constraints (i.e., the targets at the vehicle level are constantly rebalanced to achieve a consistent and feasible solution). Genetic Algorithms (GAs) are used at each layer of the framework. This work has contributed towards development of a unique approach to integrate market research into the vehicle handling design process. The framework developed for this dissertation uses Original Equipment Manufacturer\u27s (OEM\u27s) brand essence information derived from market research for the derivation and balancing of vehicle-level targets, and guides the chassis design direction using relative brand attribute weights. Other contributions from this research include development of empirical relationships between key customer-relevant vehicle handling attributes selected from market survey and the various scenarios and objective metrics of vehicle handling, development of a goal programming based approach for the selection of the best solution from a set of Pareto-optimal solutions obtained from genetic algorithms and development of Vehicle Handling Bandwidth Diagrams
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