645 research outputs found
Interaction-Aware Personalized Vehicle Trajectory Prediction Using Temporal Graph Neural Networks
Accurate prediction of vehicle trajectories is vital for advanced driver
assistance systems and autonomous vehicles. Existing methods mainly rely on
generic trajectory predictions derived from large datasets, overlooking the
personalized driving patterns of individual drivers. To address this gap, we
propose an approach for interaction-aware personalized vehicle trajectory
prediction that incorporates temporal graph neural networks. Our method
utilizes Graph Convolution Networks (GCN) and Long Short-Term Memory (LSTM) to
model the spatio-temporal interactions between target vehicles and their
surrounding traffic. To personalize the predictions, we establish a pipeline
that leverages transfer learning: the model is initially pre-trained on a
large-scale trajectory dataset and then fine-tuned for each driver using their
specific driving data. We employ human-in-the-loop simulation to collect
personalized naturalistic driving trajectories and corresponding surrounding
vehicle trajectories. Experimental results demonstrate the superior performance
of our personalized GCN-LSTM model, particularly for longer prediction
horizons, compared to its generic counterpart. Moreover, the personalized model
outperforms individual models created without pre-training, emphasizing the
significance of pre-training on a large dataset to avoid overfitting. By
incorporating personalization, our approach enhances trajectory prediction
accuracy
Control and communication systems for automated vehicles cooperation and coordination
Mención Internacional en el título de doctorThe technological advances in the Intelligent Transportation Systems (ITS) are exponentially
improving over the last century. The objective is to provide intelligent and innovative services
for the different modes of transportation, towards a better, safer, coordinated and smarter
transport networks. The Intelligent Transportation Systems (ITS) focus is divided into two
main categories; the first is to improve existing components of the transport networks, while
the second is to develop intelligent vehicles which facilitate the transportation process. Different
research efforts have been exerted to tackle various aspects in the fields of the automated
vehicles. Accordingly, this thesis is addressing the problem of multiple automated vehicles
cooperation and coordination. At first, 3DCoAutoSim driving simulator was developed
in Unity game engine and connected to Robot Operating System (ROS) framework and
Simulation of Urban Mobility (SUMO). 3DCoAutoSim is an abbreviation for "3D Simulator
for Cooperative Advanced Driver Assistance Systems (ADAS) and Automated Vehicles
Simulator". 3DCoAutoSim was tested under different circumstances and conditions, afterward,
it was validated through carrying-out several controlled experiments and compare
the results against their counter reality experiments. The obtained results showed the efficiency
of the simulator to handle different situations, emulating real world vehicles. Next
is the development of the iCab platforms, which is an abbreviation for "Intelligent Campus
Automobile". The platforms are two electric golf-carts that were modified mechanically, electronically
and electrically towards the goal of automated driving. Each iCab was equipped
with several on-board embedded computers, perception sensors and auxiliary devices, in
order to execute the necessary actions for self-driving. Moreover, the platforms are capable
of several Vehicle-to-Everything (V2X) communication schemes, applying three layers of
control, utilizing cooperation architecture for platooning, executing localization systems,
mapping systems, perception systems, and finally several planning systems. Hundreds of
experiments were carried-out for the validation of each system in the iCab platform. Results
proved the functionality of the platform to self-drive from one point to another with minimal
human intervention.Los avances tecnológicos en Sistemas Inteligentes de Transporte (ITS) han crecido de forma
exponencial durante el último siglo. El objetivo de estos avances es el de proveer de sistemas
innovadores e inteligentes para ser aplicados a los diferentes medios de transporte, con el fin
de conseguir un transporte mas eficiente, seguro, coordinado e inteligente. El foco de los ITS
se divide principalmente en dos categorías; la primera es la mejora de los componentes ya
existentes en las redes de transporte, mientras que la segunda es la de desarrollar vehículos
inteligentes que hagan más fácil y eficiente el transporte. Diferentes esfuerzos de investigación
se han llevado a cabo con el fin de solucionar los numerosos aspectos asociados con
la conducción autónoma. Esta tesis propone una solución para la cooperación y coordinación
de múltiples vehículos. Para ello, en primer lugar se desarrolló un simulador (3DCoAutoSim)
de conducción basado en el motor de juegos Unity, conectado al framework Robot Operating
System (ROS) y al simulador Simulation of Urban Mobility (SUMO). 3DCoAutoSim ha
sido probado en diferentes condiciones y circunstancias, para posteriormente validarlo con
resultados a través de varios experimentos reales controlados. Los resultados obtenidos
mostraron la eficiencia del simulador para manejar diferentes situaciones, emulando los
vehículos en el mundo real. En segundo lugar, se desarrolló la plataforma de investigación
Intelligent Campus Automobile (iCab), que consiste en dos carritos eléctricos de golf, que
fueron modificados eléctrica, mecánica y electrónicamente para darle capacidades autónomas.
Cada iCab se equipó con diferentes computadoras embebidas, sensores de percepción y
unidades auxiliares, con la finalidad de transformarlos en vehículos autónomos. Además,
se les han dado capacidad de comunicación multimodal (V2X), se les han aplicado tres
capas de control, incorporando una arquitectura de cooperación para operación en modo
tren, diferentes esquemas de localización, mapeado, percepción y planificación de rutas.
Innumerables experimentos han sido realizados para validar cada uno de los diferentes sistemas
incorporados. Los resultados prueban la funcionalidad de esta plataforma para realizar
conducción autónoma y cooperativa con mínima intervención humana.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Francisco Javier Otamendi Fernández de la Puebla.- Secretario: Hanno Hildmann.- Vocal: Pietro Cerr
Investigating and Modeling of Cooperative Vehicle-to-Vehicle Safety Stopping Distance
Dedicated Short-Range Communication (DSRC) or IEEE 802.11p/OCB (Out of the Context of a Base-station) is widely considered to be a primary technology for Vehicle-to-Vehicle (V2V) communication, and it is aimed toward increasing the safety of users on the road by sharing information between one another. The requirements of DSRC are to maintain real-time communication with low latency and high reliability. In this paper, we investigate how communication can be used to improve stopping distance performance based on fieldwork results. In addition, we assess the impacts of reduced reliability, in terms of distance independent, distance dependent and density-based consecutive packet losses. A model is developed based on empirical measurements results depending on distance, data rate, and traveling speed. With this model, it is shown that cooperative V2V communications can effectively reduce reaction time and increase safety stop distance, and highlight the importance of high reliability. The obtained results can be further used for the design of cooperative V2V-based driving and safety applications
TalkyCars: A Distributed Software Platform for Cooperative Perception among Connected Autonomous Vehicles based on Cellular-V2X Communication
Autonomous vehicles are required to operate among highly mixed traffic during their early market-introduction phase, solely relying on local sensory with limited range. Exhaustively comprehending and navigating complex urban environments is potentially not feasible with sufficient reliability using the aforesaid approach. Addressing this challenge, intelligent vehicles can virtually increase their perception range beyond their line of sight by utilizing Vehicle-to-Everything (V2X) communication with surrounding traffic participants to perform cooperative perception. Since existing solutions face a variety of limitations, including lack of comprehensiveness, universality and scalability, this thesis aims to conceptualize, implement and evaluate an end-to-end cooperative perception system using novel techniques. A comprehensive yet extensible modeling approach for dynamic traffic scenes is proposed first, which is based on probabilistic entity-relationship models, accounts for uncertain environments and combines low-level attributes with high-level relational- and semantic knowledge in a generic way. Second, the design of a holistic, distributed software architecture based on edge computing principles is proposed as a foundation for multi-vehicle high-level sensor fusion. In contrast to most existing approaches, the presented solution is designed to rely on Cellular-V2X communication in 5G networks and employs geographically distributed fusion nodes as part of a client-server configuration. A modular proof-of-concept implementation is evaluated in different simulated scenarios to assess the system\u27s performance both qualitatively and quantitatively. Experimental results show that the proposed system scales adequately to meet certain minimum requirements and yields an average improvement in overall perception quality of approximately 27 %
Design of an adaptive congestion control protocol for reliable vehicle safety communication
[no abstract
CARLA+: An Evolution of the CARLA Simulator for Complex Environment Using a Probabilistic Graphical Model
In an urban and uncontrolled environment, the presence of mixed traffic of autonomous vehicles, classical vehicles, vulnerable road users, e.g., pedestrians, and unprecedented dynamic events makes it challenging for the classical autonomous vehicle to navigate the traffic safely. Therefore, the realization of collaborative autonomous driving has the potential to improve road safety and traffic efficiency. However, an obvious challenge in this regard is how to define, model, and simulate the environment that captures the dynamics of a complex and urban environment. Therefore, in this research, we first define the dynamics of the envisioned environment, where we capture the dynamics relevant to the complex urban environment, specifically, highlighting the challenges that are unaddressed and are within the scope of collaborative autonomous driving. To this end, we model the dynamic urban environment leveraging a probabilistic graphical model (PGM). To develop the proposed solution, a realistic simulation environment is required. There are a number of simulators—CARLA (Car Learning to Act), one of the prominent ones, provides rich features and environment; however, it still fails on a few fronts, for example, it cannot fully capture the complexity of an urban environment. Moreover, the classical CARLA mainly relies on manual code and multiple conditional statements, and it provides no pre-defined way to do things automatically based on the dynamic simulation environment. Hence, there is an urgent need to extend the off-the-shelf CARLA with more sophisticated settings that can model the required dynamics. In this regard, we comprehensively design, develop, and implement an extension of a classical CARLA referred to as CARLA+ for the complex environment by integrating the PGM framework. It provides a unified framework to automate the behavior of different actors leveraging PGMs. Instead of manually catering to each condition, CARLA+ enables the user to automate the modeling of different dynamics of the environment. Therefore, to validate the proposed CARLA+, experiments with different settings are designed and conducted. The experimental results demonstrate that CARLA+ is flexible enough to allow users to model various scenarios, ranging from simple controlled models to complex models learned directly from real-world data. In the future, we plan to extend CARLA+ by allowing for more configurable parameters and more flexibility on the type of probabilistic networks and models one can choose. The open-source code of CARLA+ is made publicly available for researchers
Advances in Automated Driving Systems
Electrification, automation of vehicle control, digitalization and new mobility are the mega-trends in automotive engineering, and they are strongly connected. While many demonstrations for highly automated vehicles have been made worldwide, many challenges remain in bringing automated vehicles to the market for private and commercial use. The main challenges are as follows: reliable machine perception; accepted standards for vehicle-type approval and homologation; verification and validation of the functional safety, especially at SAE level 3+ systems; legal and ethical implications; acceptance of vehicle automation by occupants and society; interaction between automated and human-controlled vehicles in mixed traffic; human–machine interaction and usability; manipulation, misuse and cyber-security; the system costs of hard- and software and development efforts. This Special Issue was prepared in the years 2021 and 2022 and includes 15 papers with original research related to recent advances in the aforementioned challenges. The topics of this Special Issue cover: Machine perception for SAE L3+ driving automation; Trajectory planning and decision-making in complex traffic situations; X-by-Wire system components; Verification and validation of SAE L3+ systems; Misuse, manipulation and cybersecurity; Human–machine interactions, driver monitoring and driver-intention recognition; Road infrastructure measures for the introduction of SAE L3+ systems; Solutions for interactions between human- and machine-controlled vehicles in mixed traffic
Connectivity-Based Cooperative Ramp Merging in Multimodal and Mixed Traffic Environment
69A3551747109Freeway ramp merging involves conflict of vehicle movements that may lead to traffic bottlenecks or accidents. Thanks to advances in connected and automated vehicle (CAV) technology, a number of efficient ramp merging strategies have been developed. However, most of the existing CAV-based ramp merging strategies assume that all the vehicles are CAVs or do not differentiate vehicle type (i.e., passenger cars vs. heavy-duty trucks). In this study, we propose a decentralized cooperative ramp merging application for connected vehicles (both connected trucks and connected cars) in a mixed traffic environment. In addition, we develop a multi-human-in-the-loop (MHuiL) simulation platform that integrates SUMO traffic simulator with two game engine-based driving simulators, allowing us to investigate the interactions between two human drivers under various traffic scenarios. The case study shows that the decentralized cooperative ramp merging application, which provides speed guidance to the connected vehicles involving in ramp merging, helps increase the time headways of the involved vehicles and smooths their speed profiles. With the speed guidance, the median minimum time headway for the yielding car on the mainline increases by 57%. Also, its speed variation decreases by 17% while the speed variation of the merging truck from the on-ramp decreases by 19%. These results demonstrate the potential for the proposed application to improve the safety and efficiency of ramp merging for heavy-duty trucks, which will be particularly useful at on-ramps with relatively short merging lane. The experiments conducted also validate the effectiveness of the developed MHuiL platform for human factor research
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