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A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Longitudinal Dynamic versus Kinematic Models for Car-Following Control Using Deep Reinforcement Learning
The majority of current studies on autonomous vehicle control via deep
reinforcement learning (DRL) utilize point-mass kinematic models, neglecting
vehicle dynamics which includes acceleration delay and acceleration command
dynamics. The acceleration delay, which results from sensing and actuation
delays, results in delayed execution of the control inputs. The acceleration
command dynamics dictates that the actual vehicle acceleration does not rise up
to the desired command acceleration instantaneously due to dynamics. In this
work, we investigate the feasibility of applying DRL controllers trained using
vehicle kinematic models to more realistic driving control with vehicle
dynamics. We consider a particular longitudinal car-following control, i.e.,
Adaptive Cruise Control (ACC), problem solved via DRL using a point-mass
kinematic model. When such a controller is applied to car following with
vehicle dynamics, we observe significantly degraded car-following performance.
Therefore, we redesign the DRL framework to accommodate the acceleration delay
and acceleration command dynamics by adding the delayed control inputs and the
actual vehicle acceleration to the reinforcement learning environment state,
respectively. The training results show that the redesigned DRL controller
results in near-optimal control performance of car following with vehicle
dynamics considered when compared with dynamic programming solutions.Comment: Accepted to 2019 IEEE Intelligent Transportation Systems Conferenc
An Advanced Simulation Framework of an Integrated Vehicle-Powertrain Eco-Operation System for Electric Buses
vities of transit buses traveling along arterial roads and city streets consist of frequent stops and idling events at many predictable occasions, e.g., loading/unloading passengers at bus stops, approaching traffic signals or stop signs, and going through recurrent traffic congestion, etc. Besides designing transit buses with electric powertrain systems that can save a noticeable amount of energy thanks to regenerative breaking, this urban traffic environment also unfolds a number of opportunities to further improve their energy efficiency via vehicle connectivity and autonomy. Therefore, this paper proposes a complete and novel simulation framework of integrated vehicle/powertrain eco-operation system for electric buses (Eco-bus) by co-optimizing the vehicle dynamics and powertrain (VD&PT) controls. A comprehensive evaluation of the proposed system on mobility benefits and energy savings has been conducted over various traffic conditions. Simulation results are presented to showcase the superiority of the proposed simulation framework of the Eco-bus compared to the conventional bus, particularly in terms of mobility and energy efficiency aspects
Towards Secure and Safe Appified Automated Vehicles
The advancement in Autonomous Vehicles (AVs) has created an enormous market
for the development of self-driving functionalities,raising the question of how
it will transform the traditional vehicle development process. One adventurous
proposal is to open the AV platform to third-party developers, so that AV
functionalities can be developed in a crowd-sourcing way, which could provide
tangible benefits to both automakers and end users. Some pioneering companies
in the automotive industry have made the move to open the platform so that
developers are allowed to test their code on the road. Such openness, however,
brings serious security and safety issues by allowing untrusted code to run on
the vehicle. In this paper, we introduce the concept of an Appified AV platform
that opens the development framework to third-party developers. To further
address the safety challenges, we propose an enhanced appified AV design schema
called AVGuard, which focuses primarily on mitigating the threats brought about
by untrusted code, leveraging theory in the vehicle evaluation field, and
conducting program analysis techniques in the cybersecurity area. Our study
provides guidelines and suggested practice for the future design of open AV
platforms
A Learning-Based Framework for Two-Dimensional Vehicle Maneuver Prediction over V2V Networks
Situational awareness in vehicular networks could be substantially improved
utilizing reliable trajectory prediction methods. More precise situational
awareness, in turn, results in notably better performance of critical safety
applications, such as Forward Collision Warning (FCW), as well as comfort
applications like Cooperative Adaptive Cruise Control (CACC). Therefore,
vehicle trajectory prediction problem needs to be deeply investigated in order
to come up with an end to end framework with enough precision required by the
safety applications' controllers. This problem has been tackled in the
literature using different methods. However, machine learning, which is a
promising and emerging field with remarkable potential for time series
prediction, has not been explored enough for this purpose. In this paper, a
two-layer neural network-based system is developed which predicts the future
values of vehicle parameters, such as velocity, acceleration, and yaw rate, in
the first layer and then predicts the two-dimensional, i.e. longitudinal and
lateral, trajectory points based on the first layer's outputs. The performance
of the proposed framework has been evaluated in realistic cut-in scenarios from
Safety Pilot Model Deployment (SPMD) dataset and the results show a noticeable
improvement in the prediction accuracy in comparison with the kinematics model
which is the dominant employed model by the automotive industry. Both ideal and
nonideal communication circumstances have been investigated for our system
evaluation. For non-ideal case, an estimation step is included in the framework
before the parameter prediction block to handle the drawbacks of packet drops
or sensor failures and reconstruct the time series of vehicle parameters at a
desirable frequency
Platform Development and Path Following Controller Design for Full-Sized Vehicle Automation
The purpose of this thesis is to discuss the design and development of a platform used to automate a stock 2013 Ford Focus EV. The platform is low-cost and open-source to encourage collaboration and provide a starting point for fellow researchers to advance the work in the field of automated vehicle control. This thesis starts by discussing the process of obtaining control of the vehicle by taking advantage of internal communication protocols. The controller design process is detailed and a description of the components and software used to control the vehicle is provided. The automated system is tested and the results of fully autonomous driving are discussed
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