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

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

Models and Performance of VANET based Emergency Braking

The network research community is working in the field of automotive to provide VANET based safety applications to reduce the number of accidents, deaths, injuries and loss of money. Several approaches are proposed and investigated in VANET literature, but in a completely network-oriented fashion. Most of them do not take into account application requirements and no one considers the dynamics of the vehicles. Moreover, message repropagation schemes are widely proposed without investigating their benefits and using very complicated approaches. This technical report, which is derived from the Master Thesis of Michele Segata, focuses on the Emergency Electronic Brake Lights (EEBL) safety application, meant to send warning messages in the case of an emergency brake, in particular performing a joint analysis of network requirements and provided application level benefits. The EEBL application is integrated within a Collaborative Adaptive Cruise Control (CACC) which uses network-provided information to automatically brake the car if the driver does not react to the warning. Moreover, an information aggregation scheme is proposed to analyze the benefits of repropagation together with the consequent increase of network load. This protocol is compared to a protocol without repropagation and to a rebroadcast protocol found in the literature (namely the weighted p-persistent rebroadcast). The scenario is a highway stretch in which a platoon of vehicles brake down to a complete stop. Simulations are performed using the NS_3 network simulation in which two mobility models have been embedded. The first one, which is called Intelligent Driver Model (IDM) emulates the behavior of a driver trying to reach a desired speed and braking when approaching vehicles in front. The second one (Minimizing Overall Braking Induced by Lane change (MOBIL)), instead, decides when a vehicle has to change lane in order to perform an overtake or optimize its path. The original simulator has been modified by - introducing real physical limits to naturally reproduce real crashes; - implementing a CACC; - implementing the driver reaction when a warning is received; - implementing different network protocols. The tests are performed in different situations, such as different number of lanes (one to five), different average speeds, different network protocols and different market penetration rates and they show that: - the adoption of this technology considerably decreases car accidents since the overall average maximum deceleration is reduced; - network load depends on application-level details, such as the implementation of the CACC; - VANET safety application can improve safety even with a partial market penetration rate; - message repropagation is important to reduce the risk of accidents when not all vehicles are equipped; - benefits are gained not only by equipped vehicles but also by unequipped ones

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Cooperative Vehicular Platooning (Co-VP) is a paradigmatic example of a Cooperative Cyber-Physical System (Co-CPS), which holds the potential to vastly improve road safety by partially removing humans from the driving task. However, the challenges are substantial, as the domain involves several topics, such as control theory, communications, vehicle dynamics, security, and traffic engineering, that must be coupled to describe, develop and validate these systems of systems accurately. This work presents a comprehensive survey of significant and recent advances in Co-VP relevant fields. We start by overviewing the work on control strategies and underlying communication infrastructures, focusing on their interplay. We also address a fundamental concern by presenting a cyber-security overview regarding these systems. Furthermore, we present and compare the primary initiatives to test and validate those systems, including simulation tools, hardware-in-the-loop setups, and vehicular testbeds. Finally, we highlight a few open challenges in the Co-VP domain. This work aims to provide a fundamental overview of highly relevant works on Co-VP topics, particularly by exposing their inter-dependencies, facilitating a guide that will support further developments in this challenging field.info:eu-repo/semantics/publishedVersio

Assessing the effectiveness of managed lane strategies for the rapid deployment of cooperative adaptive cruise control technology

Connected and Automated Vehicle (C/AV) technologies are fast expanding in the transportation and automotive markets. One of the highly researched examples of C/AV technologies is the Cooperative Adaptive Cruise Control (CACC) system, which exploits various vehicular sensors and vehicle-to-vehicle communication to automate vehicular longitudinal control. The operational strategies and network-level impacts of CACC have not been thoroughly discussed, especially in near-term deployment scenarios where Market Penetration Rate (MPR) is relatively low. Therefore, this study aims to assess CACC\u27s impacts with a combination of managed lane strategies to provide insights for CACC deployment. The proposed simulation framework incorporates 1) the Enhanced Intelligent Driver Model; 2) Nakagami-based radio propagation model; and 3) a multi-objective optimization (MOOP)-based CACC control algorithm. The operational impacts of CACC are assessed under four managed lane strategies (i.e., mixed traffic (UML), HOV (High Occupancy Vehicle)-CACC lane (MML), CACC dedicated lane (DL), and CACC dedicated lane with access control (DLA)). Simulation results show that the introduction of CACC, even with 10% MPR, is able to improve the network throughput by 7% in the absence of any managed lane strategies. The segment travel times for both CACC and non-CACC vehicles are reduced. The break-even point for implementing dedicated CACC lane is 30% MPR, below which the priority usage of the current HOV lane for CACC traffic is found to be more appropriate. It is also observed that DLA strategy is able to consistently increase the percentage of platooned CACC vehicles as MPR grows. The percentage of CACC vehicles within a platoon reaches 52% and 46% for DL and DLA, respectively. When it comes to the impact of vehicle-to-vehicle (V2V), it is found that DLA strategy provides more consistent transmission density in terms of median and variance when MPR reaches 20% or above. Moreover, the performance of the MOOP-based cooperative driving is examined. With average 75% likelihood of obtaining a feasible solution, the MOOP outperforms its counterpart which aims to minimize the headway objective solely. In UML, MML, and DL strategy, the proposed control algorithm achieves a balance spread among four objectives for each CACC vehicle. In the DLA strategy, however, the probability of obtaining feasible solution falls to 60% due to increasing size of platoon owing to DLA that constraints the feasible region by introduction more dimensions in the search space. In summary, UML or MML is the preferred managed lane strategy for improving traffic performance when MPR is less than 30%. When MRP reaches 30% or above, DL and DLA could improve the CACC performance by facilitating platoon formation. If available, priority access to an existing HOV lane can be adopted to encourage adaptation of CACC when CACC technology becomes publically available